<?xml version='1.0' encoding='UTF-8' standalone='yes' ?>
<tagfile>
  <compound kind="file">
    <name>chunked_kdtree.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>chunked__kdtree_8h.html</filename>
    <class kind="class">mcl_3dl::ChunkedKdtree::Chunk</class>
    <class kind="class">mcl_3dl::ChunkedKdtree</class>
    <class kind="class">mcl_3dl::ChunkedKdtree::ChunkId</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>cloud_accum.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/src/</path>
    <filename>cloud__accum_8cpp.html</filename>
    <includes id="cloud__accum_8h" name="cloud_accum.h" local="no" imported="no">mcl_3dl/cloud_accum.h</includes>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>cloud_accum.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>cloud__accum_8h.html</filename>
    <class kind="class">mcl_3dl::CloudAccumulationLogic</class>
    <class kind="class">mcl_3dl::CloudAccumulationLogicBase</class>
    <class kind="class">mcl_3dl::CloudAccumulationLogicPassThrough</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>compare_pose.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>compare__pose_8cpp.html</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>compare__pose_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>compare__pose_8cpp.html</anchorfile>
      <anchor>a3d7883842739db6ff33e20e552478705</anchor>
      <arglist>(ComparePose, Compare)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>compare_tf.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>compare__tf_8cpp.html</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>compare__tf_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>compare__tf_8cpp.html</anchorfile>
      <anchor>af849b104654d45135100de060dc8d153</anchor>
      <arglist>(CompareTf, Compare)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>compatibility.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl_compat/</path>
    <filename>compatibility_8h.html</filename>
    <namespace>mcl_3dl_compat</namespace>
    <member kind="define">
      <type>#define</type>
      <name>STATIC_ASSERT</name>
      <anchorfile>compatibility_8h.html</anchorfile>
      <anchor>a5efe7d9be4898d0ad40b4ba7182f69e2</anchor>
      <arglist>(EXPR)</arglist>
    </member>
    <member kind="function">
      <type>ros::Publisher</type>
      <name>advertise</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a517309acaa0e490d13c36593c5f5b353</anchor>
      <arglist>(ros::NodeHandle &amp;nh_new, const std::string &amp;topic_new, ros::NodeHandle &amp;nh_old, const std::string &amp;topic_old, uint32_t queue_size, bool latch=false)</arglist>
    </member>
    <member kind="function">
      <type>ros::ServiceServer</type>
      <name>advertiseService</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a5ea342fb74cbe541e98d262ae5e4ba3a</anchor>
      <arglist>(ros::NodeHandle &amp;nh_new, const std::string &amp;service_new, ros::NodeHandle &amp;nh_old, const std::string &amp;service_old, bool(T::*srv_func)(MReq &amp;, MRes &amp;), T *obj)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkCompatMode</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a23e8a4cdec6361a248f32b8f823c0c5f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getCompat</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a3672af5be046f60194dc0b5d18906e7d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getSimplifiedNamespace</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a0a8148ec07197cef5fd56d9a7d4c0d98</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>paramRename</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>ad21ffd15db5d0b3212b1b898df179915</anchor>
      <arglist>(ros::NodeHandle &amp;nh, const std::string &amp;param_name_new, const std::string &amp;param_name_old)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>STATIC_ASSERT</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a3266f87215dee7c5f28ccb222b969d8a</anchor>
      <arglist>(supported_level&lt;=current_level &amp;&amp;current_level&lt;=supported_level+1)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>STATIC_ASSERT</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>aad351fb0def20d0a778e8877a1a0711a</anchor>
      <arglist>(supported_level&lt;=default_level &amp;&amp;default_level&lt;=current_level)</arglist>
    </member>
    <member kind="function">
      <type>ros::Subscriber</type>
      <name>subscribe</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>ac413322fadc24db665194ba506a8fdc0</anchor>
      <arglist>(ros::NodeHandle &amp;nh_new, const std::string &amp;topic_new, ros::NodeHandle &amp;nh_old, const std::string &amp;topic_old, uint32_t queue_size, void(T::*fp)(M) const, T *obj, const ros::TransportHints &amp;transport_hints=ros::TransportHints())</arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>current_level</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>ab461f21c755176adfb09e9bc7bfd0414</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>default_level</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a83bbe3d9a7ca478fa5c97b2523f70533</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>supported_level</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a941468cb78471b84477908cbf91f8a9a</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>diagonal_noise_generator.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/noise_generators/</path>
    <filename>diagonal__noise__generator_8h.html</filename>
    <includes id="noise__generator__base_8h" name="noise_generator_base.h" local="no" imported="no">mcl_3dl/noise_generator_base.h</includes>
    <class kind="class">mcl_3dl::DiagonalNoiseGenerator</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>filter.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>filter_8h.html</filename>
    <class kind="class">mcl_3dl::Filter</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>filter_vec3.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>filter__vec3_8h.html</filename>
    <includes id="filter_8h" name="filter.h" local="no" imported="no">mcl_3dl/filter.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::FilterVec3</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>imu_measurement_model_base.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>imu__measurement__model__base_8h.html</filename>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <class kind="class">mcl_3dl::ImuMeasurementModelBase</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>imu_measurement_model_gravity.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/imu_measurement_models/</path>
    <filename>imu__measurement__model__gravity_8h.html</filename>
    <includes id="imu__measurement__model__base_8h" name="imu_measurement_model_base.h" local="no" imported="no">mcl_3dl/imu_measurement_model_base.h</includes>
    <includes id="nd_8h" name="nd.h" local="no" imported="no">mcl_3dl/nd.h</includes>
    <class kind="class">mcl_3dl::ImuMeasurementModelGravity</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>lidar_measurement_model_base.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>lidar__measurement__model__base_8h.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="point__cloud__random__sampler_8h" name="point_cloud_random_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_sampler.h</includes>
    <includes id="point__cloud__uniform__sampler_8h" name="point_cloud_uniform_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_samplers/point_cloud_uniform_sampler.h</includes>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::LidarMeasurementModelBase</class>
    <class kind="struct">mcl_3dl::LidarMeasurementResult</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>lidar_measurement_model_beam.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/src/</path>
    <filename>lidar__measurement__model__beam_8cpp.html</filename>
    <includes id="pf_8h" name="pf.h" local="no" imported="no">mcl_3dl/pf.h</includes>
    <includes id="point__cloud__random__sampler_8h" name="point_cloud_random_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_sampler.h</includes>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <includes id="raycast_8h" name="raycast.h" local="no" imported="no">mcl_3dl/raycast.h</includes>
    <includes id="raycast__using__dda_8h" name="raycast_using_dda.h" local="no" imported="no">mcl_3dl/raycasts/raycast_using_dda.h</includes>
    <includes id="raycast__using__kdtree_8h" name="raycast_using_kdtree.h" local="no" imported="no">mcl_3dl/raycasts/raycast_using_kdtree.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <includes id="lidar__measurement__model__beam_8h" name="lidar_measurement_model_beam.h" local="no" imported="no">mcl_3dl/lidar_measurement_models/lidar_measurement_model_beam.h</includes>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>lidar_measurement_model_beam.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/lidar_measurement_models/</path>
    <filename>lidar__measurement__model__beam_8h.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="lidar__measurement__model__base_8h" name="lidar_measurement_model_base.h" local="no" imported="no">mcl_3dl/lidar_measurement_model_base.h</includes>
    <includes id="pf_8h" name="pf.h" local="no" imported="no">mcl_3dl/pf.h</includes>
    <includes id="point__cloud__random__sampler_8h" name="point_cloud_random_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_sampler.h</includes>
    <includes id="raycast_8h" name="raycast.h" local="no" imported="no">mcl_3dl/raycast.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::LidarMeasurementModelBeam</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>lidar_measurement_model_likelihood.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/src/</path>
    <filename>lidar__measurement__model__likelihood_8cpp.html</filename>
    <includes id="pf_8h" name="pf.h" local="no" imported="no">mcl_3dl/pf.h</includes>
    <includes id="point__cloud__random__sampler_8h" name="point_cloud_random_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_sampler.h</includes>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <includes id="lidar__measurement__model__likelihood_8h" name="lidar_measurement_model_likelihood.h" local="no" imported="no">mcl_3dl/lidar_measurement_models/lidar_measurement_model_likelihood.h</includes>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>lidar_measurement_model_likelihood.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/lidar_measurement_models/</path>
    <filename>lidar__measurement__model__likelihood_8h.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="lidar__measurement__model__base_8h" name="lidar_measurement_model_base.h" local="no" imported="no">mcl_3dl/lidar_measurement_model_base.h</includes>
    <includes id="pf_8h" name="pf.h" local="no" imported="no">mcl_3dl/pf.h</includes>
    <includes id="point__cloud__random__sampler_8h" name="point_cloud_random_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_sampler.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::LidarMeasurementModelLikelihood</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>mcl_3dl.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/src/</path>
    <filename>mcl__3dl_8cpp.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="cloud__accum_8h" name="cloud_accum.h" local="no" imported="no">mcl_3dl/cloud_accum.h</includes>
    <includes id="filter_8h" name="filter.h" local="no" imported="no">mcl_3dl/filter.h</includes>
    <includes id="filter__vec3_8h" name="filter_vec3.h" local="no" imported="no">mcl_3dl/filter_vec3.h</includes>
    <includes id="imu__measurement__model__base_8h" name="imu_measurement_model_base.h" local="no" imported="no">mcl_3dl/imu_measurement_model_base.h</includes>
    <includes id="imu__measurement__model__gravity_8h" name="imu_measurement_model_gravity.h" local="no" imported="no">mcl_3dl/imu_measurement_models/imu_measurement_model_gravity.h</includes>
    <includes id="lidar__measurement__model__base_8h" name="lidar_measurement_model_base.h" local="no" imported="no">mcl_3dl/lidar_measurement_model_base.h</includes>
    <includes id="lidar__measurement__model__beam_8h" name="lidar_measurement_model_beam.h" local="no" imported="no">mcl_3dl/lidar_measurement_models/lidar_measurement_model_beam.h</includes>
    <includes id="lidar__measurement__model__likelihood_8h" name="lidar_measurement_model_likelihood.h" local="no" imported="no">mcl_3dl/lidar_measurement_models/lidar_measurement_model_likelihood.h</includes>
    <includes id="motion__prediction__model__base_8h" name="motion_prediction_model_base.h" local="no" imported="no">mcl_3dl/motion_prediction_model_base.h</includes>
    <includes id="motion__prediction__model__differential__drive_8h" name="motion_prediction_model_differential_drive.h" local="no" imported="no">mcl_3dl/motion_prediction_models/motion_prediction_model_differential_drive.h</includes>
    <includes id="nd_8h" name="nd.h" local="no" imported="no">mcl_3dl/nd.h</includes>
    <includes id="multivariate__noise__generator_8h" name="multivariate_noise_generator.h" local="no" imported="no">mcl_3dl/noise_generators/multivariate_noise_generator.h</includes>
    <includes id="parameters_8h" name="parameters.h" local="no" imported="no">mcl_3dl/parameters.h</includes>
    <includes id="pf_8h" name="pf.h" local="no" imported="no">mcl_3dl/pf.h</includes>
    <includes id="point__cloud__sampler__with__normal_8h" name="point_cloud_sampler_with_normal.h" local="no" imported="no">mcl_3dl/point_cloud_random_samplers/point_cloud_sampler_with_normal.h</includes>
    <includes id="point__cloud__uniform__sampler_8h" name="point_cloud_uniform_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_samplers/point_cloud_uniform_sampler.h</includes>
    <includes id="point__conversion_8h" name="point_conversion.h" local="no" imported="no">mcl_3dl/point_conversion.h</includes>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <includes id="quat_8h" name="quat.h" local="no" imported="no">mcl_3dl/quat.h</includes>
    <includes id="raycast_8h" name="raycast.h" local="no" imported="no">mcl_3dl/raycast.h</includes>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <includes id="compatibility_8h" name="compatibility.h" local="no" imported="no">mcl_3dl_compat/compatibility.h</includes>
    <class kind="class">mcl_3dl::MCL3dlNode</class>
    <class kind="class">mcl_3dl::MCL3dlNode::MyPointRepresentation</class>
    <namespace>mcl_3dl</namespace>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>mcl__3dl_8cpp.html</anchorfile>
      <anchor>a0ddf1224851353fc92bfbff6f499fa97</anchor>
      <arglist>(int argc, char *argv[])</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>motion_prediction_model_base.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>motion__prediction__model__base_8h.html</filename>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <class kind="class">mcl_3dl::MotionPredictionModelBase</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>motion_prediction_model_differential_drive.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/motion_prediction_models/</path>
    <filename>motion__prediction__model__differential__drive_8h.html</filename>
    <includes id="motion__prediction__model__base_8h" name="motion_prediction_model_base.h" local="no" imported="no">mcl_3dl/motion_prediction_model_base.h</includes>
    <class kind="class">mcl_3dl::MotionPredictionModelDifferentialDrive</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>multivariate_noise_generator.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/noise_generators/</path>
    <filename>multivariate__noise__generator_8h.html</filename>
    <includes id="noise__generator__base_8h" name="noise_generator_base.h" local="no" imported="no">mcl_3dl/noise_generator_base.h</includes>
    <class kind="class">mcl_3dl::MultivariateNoiseGenerator</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>nd.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>nd_8h.html</filename>
    <class kind="class">mcl_3dl::NormalLikelihood</class>
    <class kind="class">mcl_3dl::NormalLikelihoodNd</class>
    <namespace>mcl_3dl</namespace>
    <member kind="define">
      <type>#define</type>
      <name>_USE_MATH_DEFINES</name>
      <anchorfile>nd_8h.html</anchorfile>
      <anchor>a525335710b53cb064ca56b936120431e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>noise_generator_base.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>noise__generator__base_8h.html</filename>
    <class kind="class">mcl_3dl::NoiseGeneratorBase</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>parameters.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/src/</path>
    <filename>parameters_8cpp.html</filename>
    <includes id="parameters_8h" name="parameters.h" local="no" imported="no">mcl_3dl/parameters.h</includes>
    <includes id="compatibility_8h" name="compatibility.h" local="no" imported="no">mcl_3dl_compat/compatibility.h</includes>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>parameters.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>parameters_8h.html</filename>
    <includes id="quat_8h" name="quat.h" local="no" imported="no">mcl_3dl/quat.h</includes>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::Parameters</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>performance_raycast.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>performance__raycast_8cpp.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="raycast__using__dda_8h" name="raycast_using_dda.h" local="no" imported="no">mcl_3dl/raycasts/raycast_using_dda.h</includes>
    <includes id="raycast__using__kdtree_8h" name="raycast_using_kdtree.h" local="no" imported="no">mcl_3dl/raycasts/raycast_using_kdtree.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>performance__raycast_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>performanceTestRaycast</name>
      <anchorfile>performance__raycast_8cpp.html</anchorfile>
      <anchor>a4a56ba3745f3669fb426e7724ccde0c3</anchor>
      <arglist>(const float chunk_size)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>performanceTestRaycastUsingDDA</name>
      <anchorfile>performance__raycast_8cpp.html</anchorfile>
      <anchor>a0fe2de29abdda13419421a83983b3a48</anchor>
      <arglist>(const float dda_grid_size)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>pf.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>pf_8h.html</filename>
    <includes id="diagonal__noise__generator_8h" name="diagonal_noise_generator.h" local="no" imported="no">mcl_3dl/noise_generators/diagonal_noise_generator.h</includes>
    <class kind="class">mcl_3dl::pf::Particle</class>
    <class kind="class">mcl_3dl::pf::ParticleBase</class>
    <class kind="class">mcl_3dl::pf::ParticleFilter</class>
    <class kind="class">mcl_3dl::pf::ParticleWeightedMean</class>
    <namespace>mcl_3dl</namespace>
    <namespace>mcl_3dl::pf</namespace>
  </compound>
  <compound kind="file">
    <name>point_cloud_random_sampler.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>point__cloud__random__sampler_8h.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <class kind="class">mcl_3dl::PointCloudRandomSampler</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>point_cloud_sampler_with_normal.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/point_cloud_random_samplers/</path>
    <filename>point__cloud__sampler__with__normal_8h.html</filename>
    <includes id="point__cloud__random__sampler_8h" name="point_cloud_random_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_sampler.h</includes>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <class kind="class">mcl_3dl::PointCloudSamplerWithNormal</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>point_cloud_uniform_sampler.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/point_cloud_random_samplers/</path>
    <filename>point__cloud__uniform__sampler_8h.html</filename>
    <includes id="point__cloud__random__sampler_8h" name="point_cloud_random_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_sampler.h</includes>
    <class kind="class">mcl_3dl::PointCloudUniformSampler</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>point_conversion.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>point__conversion_8h.html</filename>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <namespace>mcl_3dl</namespace>
    <member kind="function">
      <type>bool</type>
      <name>fromROSMsg</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>ac005e2491f5521bde803ba9d49d0f7a1</anchor>
      <arglist>(const sensor_msgs::PointCloud2 &amp;msg, pcl::PointCloud&lt; PointT &gt; &amp;pc)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>point_types.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/src/</path>
    <filename>point__types_8cpp.html</filename>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <member kind="function">
      <type>template bool</type>
      <name>pcl_ros::transformPointCloud&lt; mcl_3dl::PointXYZIL &gt;</name>
      <anchorfile>point__types_8cpp.html</anchorfile>
      <anchor>acc9eb9136d7607c13c66b40c999c3336</anchor>
      <arglist>(const std::string &amp;, const pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt; &amp;, pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt; &amp;, const tf::TransformListener &amp;)</arglist>
    </member>
    <member kind="function">
      <type>template bool</type>
      <name>pcl_ros::transformPointCloud&lt; mcl_3dl::PointXYZIL &gt;</name>
      <anchorfile>point__types_8cpp.html</anchorfile>
      <anchor>a438135ab3234548df05d3f94c1e75e31</anchor>
      <arglist>(const std::string &amp;, const ros::Time &amp;, const pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt; &amp;, const std::string &amp;, pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt; &amp;, const tf::TransformListener &amp;)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>point_types.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>point__types_8h.html</filename>
    <class kind="struct">mcl_3dl::PointXYZIL</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>quat.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>quat_8h.html</filename>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::Quat</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>raycast.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>raycast_8h.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::Raycast::CastResult</class>
    <class kind="class">mcl_3dl::Raycast</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>raycast_using_dda.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/raycasts/</path>
    <filename>raycast__using__dda_8h.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="raycast_8h" name="raycast.h" local="no" imported="no">mcl_3dl/raycast.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::RaycastUsingDDA</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>raycast_using_kdtree.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/raycasts/</path>
    <filename>raycast__using__kdtree_8h.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="raycast_8h" name="raycast.h" local="no" imported="no">mcl_3dl/raycast.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <class kind="class">mcl_3dl::RaycastUsingKDTree</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>state_6dof.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>state__6dof_8h.html</filename>
    <includes id="pf_8h" name="pf.h" local="no" imported="no">mcl_3dl/pf.h</includes>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <includes id="quat_8h" name="quat.h" local="no" imported="no">mcl_3dl/quat.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <includes id="noise__generator__base_8h" name="noise_generator_base.h" local="no" imported="no">mcl_3dl/noise_generator_base.h</includes>
    <includes id="diagonal__noise__generator_8h" name="diagonal_noise_generator.h" local="no" imported="no">mcl_3dl/noise_generators/diagonal_noise_generator.h</includes>
    <class kind="class">mcl_3dl::ParticleWeightedMeanQuat</class>
    <class kind="class">mcl_3dl::State6DOF::RPYVec</class>
    <class kind="class">mcl_3dl::State6DOF</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="file">
    <name>test_beam_label.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__beam__label_8cpp.html</filename>
    <class kind="class">BeamLabel</class>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__beam__label_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST_F</name>
      <anchorfile>test__beam__label_8cpp.html</anchorfile>
      <anchor>aefc4b7e52f430e49b250e3e90fb6b075</anchor>
      <arglist>(BeamLabel, SemiTransparentWall)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_beam_likelihood.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__beam__likelihood_8cpp.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="lidar__measurement__model__beam_8h" name="lidar_measurement_model_beam.h" local="no" imported="no">mcl_3dl/lidar_measurement_models/lidar_measurement_model_beam.h</includes>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__beam__likelihood_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__beam__likelihood_8cpp.html</anchorfile>
      <anchor>a6790541fcdbb0bccae92a6b866d4dca5</anchor>
      <arglist>(BeamModel, LikelihoodFunc)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_chunked_kdtree.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__chunked__kdtree_8cpp.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__chunked__kdtree_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__chunked__kdtree_8cpp.html</anchorfile>
      <anchor>a1b7a65ad3910e977ebc45095b58a3f19</anchor>
      <arglist>(ChunkedKdtree, RadiusSearch)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_cloud_accum.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__cloud__accum_8cpp.html</filename>
    <includes id="cloud__accum_8h" name="cloud_accum.h" local="no" imported="no">mcl_3dl/cloud_accum.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__cloud__accum_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__cloud__accum_8cpp.html</anchorfile>
      <anchor>a8f4de6d6443b4b3d4bac807f99862df4</anchor>
      <arglist>(CloudAccumulationLogic, Accumulate)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__cloud__accum_8cpp.html</anchorfile>
      <anchor>a91f2bec816f845a3652db778068141eb</anchor>
      <arglist>(CloudAccumulationLogic, PassThrough)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_debug_output.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__debug__output_8cpp.html</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__debug__output_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__debug__output_8cpp.html</anchorfile>
      <anchor>a0e8fb31bc82eb931dd23fcfa157d86f5</anchor>
      <arglist>(DebugOutput, MatchedUnmatched)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_expansion_resetting.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__expansion__resetting_8cpp.html</filename>
    <class kind="class">ExpansionResetting</class>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__expansion__resetting_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST_F</name>
      <anchorfile>test__expansion__resetting_8cpp.html</anchorfile>
      <anchor>ae30df82351ca8533d387da0a26156df6</anchor>
      <arglist>(ExpansionResetting, ExpandAndResume)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST_F</name>
      <anchorfile>test__expansion__resetting_8cpp.html</anchorfile>
      <anchor>a269dd97f5a48ad66c4b8209efab95dbd</anchor>
      <arglist>(ExpansionResetting, ManualExpand)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_filter.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__filter_8cpp.html</filename>
    <includes id="filter_8h" name="filter.h" local="no" imported="no">mcl_3dl/filter.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__filter_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__filter_8cpp.html</anchorfile>
      <anchor>a5deb16e506866450cc289a1b56775dc0</anchor>
      <arglist>(Filter, AugleLPF)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__filter_8cpp.html</anchorfile>
      <anchor>a99410d433cb958b65a69cb515a0c0a72</anchor>
      <arglist>(Filter, HPFCharacteristic)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__filter_8cpp.html</anchorfile>
      <anchor>ab424d1a61df41b4c377bc9f063b5d164</anchor>
      <arglist>(Filter, LPFCharacteristic)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_global_localization.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__global__localization_8cpp.html</filename>
    <class kind="class">GlobalLocalization</class>
    <member kind="function">
      <type></type>
      <name>INSTANTIATE_TEST_CASE_P</name>
      <anchorfile>test__global__localization_8cpp.html</anchorfile>
      <anchor>ae845bfdef62cf4044ab8ce16e7bbfdcb</anchor>
      <arglist>(OdometryOffset, GlobalLocalization, ::testing::Values(5.0, 100.0))</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__global__localization_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST_P</name>
      <anchorfile>test__global__localization_8cpp.html</anchorfile>
      <anchor>a579eb4c001bc089a0d025842243975cd</anchor>
      <arglist>(GlobalLocalization, Localize)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_imu_measurement_model_gravity.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__imu__measurement__model__gravity_8cpp.html</filename>
    <includes id="imu__measurement__model__gravity_8h" name="imu_measurement_model_gravity.h" local="no" imported="no">mcl_3dl/imu_measurement_models/imu_measurement_model_gravity.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__imu__measurement__model__gravity_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__imu__measurement__model__gravity_8cpp.html</anchorfile>
      <anchor>acb925db611b8300e00b2d4ba82c02e90</anchor>
      <arglist>(ImuMeasurementModelGravity, measure)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_landmark.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__landmark_8cpp.html</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__landmark_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__landmark_8cpp.html</anchorfile>
      <anchor>a587dc37af829f8727422812743cdbb9c</anchor>
      <arglist>(Landmark, Measurement)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_mcl_3dl_compat.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__mcl__3dl__compat_8cpp.html</filename>
    <includes id="compatibility_8h" name="compatibility.h" local="no" imported="no">mcl_3dl_compat/compatibility.h</includes>
    <class kind="class">Mcl3DlCompatCallbacks</class>
    <namespace>mcl_3dl_compat</namespace>
    <member kind="define">
      <type>#define</type>
      <name>UNDEF_COMPATIBILITY_LEVEL</name>
      <anchorfile>test__mcl__3dl__compat_8cpp.html</anchorfile>
      <anchor>a401d1a5c9c8a06fc273720ce2b86bb95</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__mcl__3dl__compat_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__mcl__3dl__compat_8cpp.html</anchorfile>
      <anchor>a8f2dd6a0cc55c5024231c4fc4781b86f</anchor>
      <arglist>(Mcl3DlCompat, AdvertiseService)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__mcl__3dl__compat_8cpp.html</anchorfile>
      <anchor>adbee42ea25b8bf05d0b13dbe6c2df59c</anchor>
      <arglist>(Mcl3DlCompat, CompatMode)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__mcl__3dl__compat_8cpp.html</anchorfile>
      <anchor>aa5fb60ae2ab3c5caf5f4beb4cd97810f</anchor>
      <arglist>(Mcl3DlCompat, ParamRename)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__mcl__3dl__compat_8cpp.html</anchorfile>
      <anchor>ac428fcd023c90868c5e2231b4700481f</anchor>
      <arglist>(Mcl3DlCompat, Subscribe)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_motion_prediction_model_differential_drive.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__motion__prediction__model__differential__drive_8cpp.html</filename>
    <includes id="motion__prediction__model__differential__drive_8h" name="motion_prediction_model_differential_drive.h" local="no" imported="no">mcl_3dl/motion_prediction_models/motion_prediction_model_differential_drive.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__motion__prediction__model__differential__drive_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__motion__prediction__model__differential__drive_8cpp.html</anchorfile>
      <anchor>ab8c2318f40df783f7e448d9a4c41616d</anchor>
      <arglist>(TestMotionPredictionModelDifferentialDrive, predictWithoutNoise)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__motion__prediction__model__differential__drive_8cpp.html</anchorfile>
      <anchor>ad97aaff28b7d6e141fef50f8f8ac9abe</anchor>
      <arglist>(TestMotionPredictionModelDifferentialDrive, predictWithoutRollPitch)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__motion__prediction__model__differential__drive_8cpp.html</anchorfile>
      <anchor>a96f97561a17825ab48ade9189bc4bed4</anchor>
      <arglist>(TestMotionPredictionModelDifferentialDrive, predictWithoutRotation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__motion__prediction__model__differential__drive_8cpp.html</anchorfile>
      <anchor>a5748be95f364a773127d585c1ce86676</anchor>
      <arglist>(TestMotionPredictionModelDifferentialDrive, predictWithoutTranslationAndRollPitch)</arglist>
    </member>
    <member kind="variable" static="yes">
      <type>static const double</type>
      <name>EPS</name>
      <anchorfile>test__motion__prediction__model__differential__drive_8cpp.html</anchorfile>
      <anchor>afe01386a82fedc016455a43c20280a97</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_nd.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__nd_8cpp.html</filename>
    <includes id="nd_8h" name="nd.h" local="no" imported="no">mcl_3dl/nd.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__nd_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__nd_8cpp.html</anchorfile>
      <anchor>a7c51f005b546ccf760b86841ce8f1fb4</anchor>
      <arglist>(NormalLiklihood, Normality)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__nd_8cpp.html</anchorfile>
      <anchor>a8dd100f40a58d50bc7465392b84324aa</anchor>
      <arglist>(NormalLiklihood, NormalityNd)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_noise_generator.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__noise__generator_8cpp.html</filename>
    <includes id="diagonal__noise__generator_8h" name="diagonal_noise_generator.h" local="no" imported="no">mcl_3dl/noise_generators/diagonal_noise_generator.h</includes>
    <includes id="multivariate__noise__generator_8h" name="multivariate_noise_generator.h" local="no" imported="no">mcl_3dl/noise_generators/multivariate_noise_generator.h</includes>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <namespace>mcl_3dl</namespace>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__noise__generator_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>a98ad529462f241183c5dfa36f0d1104e</anchor>
      <arglist>(NoiseGenerator, DiagonalNoiseGenerator)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>ad28d9d5b1e08158872bd3c3363cf0d05</anchor>
      <arglist>(NoiseGenerator, MultivariateNoiseGenerator)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>ac41e8f701464a766f46c61dac89eb88c</anchor>
      <arglist>(NoiseGenerator, MultivariateNoiseGeneratorForState6Dof)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>testNoiseGeneratorResults</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>a49446eea5067f45f8f131a25bb9c6b40</anchor>
      <arglist>(const std::vector&lt; float &gt; &amp;expected_means, const std::vector&lt; float &gt; &amp;expected_covariances, const NOISE_GEN &amp;gen, const float allowable_error_of_zero_cov)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; float &gt;</type>
      <name>toCovarianceMatrix</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>aef571fc8858a4682cb0c165dc69e10da</anchor>
      <arglist>(const std::vector&lt; float &gt; &amp;sigma)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_pf.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__pf_8cpp.html</filename>
    <includes id="nd_8h" name="nd.h" local="no" imported="no">mcl_3dl/nd.h</includes>
    <includes id="pf_8h" name="pf.h" local="no" imported="no">mcl_3dl/pf.h</includes>
    <class kind="class">State</class>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a7ff98a9554e048f2dbbe1eb233327d59</anchor>
      <arglist>(Pf, AppendParticles)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a3c5495b89f923aa2ccf446b9f412c9d1</anchor>
      <arglist>(Pf, BayesianEstimation)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a922647af49366db146d0117f6a2d9a1b</anchor>
      <arglist>(Pf, Entropy)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a8b148cccf04519ac488018df269e69c9</anchor>
      <arglist>(Pf, Iterators)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a10e36515ae704471b6cb7f55add566a7</anchor>
      <arglist>(Pf, ResampleFirstAndLastParticle)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a92e8b006ec7cca4f281bcf125daeda56</anchor>
      <arglist>(Pf, ResampleFlatLikelihood)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>aab804d07d2b7231d43fae5ad73a10fff</anchor>
      <arglist>(Pf, VariableParticleSize)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>testResample</name>
      <anchorfile>test__pf_8cpp.html</anchorfile>
      <anchor>a3ff6eccd505ea56fbb96fdad6e864910</anchor>
      <arglist>(const std::vector&lt; float &gt; &amp;probs, const std::vector&lt; float &gt; &amp;states, const std::vector&lt; float &gt; &amp;expected_resampled_states)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_point_cloud_random_sampler.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__point__cloud__random__sampler_8cpp.html</filename>
    <includes id="point__cloud__uniform__sampler_8h" name="point_cloud_uniform_sampler.h" local="no" imported="no">mcl_3dl/point_cloud_random_samplers/point_cloud_uniform_sampler.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__point__cloud__random__sampler_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__point__cloud__random__sampler_8cpp.html</anchorfile>
      <anchor>a559aad2a308f532176224589291fa0d1</anchor>
      <arglist>(PointCloudUniformSampler, Sampling)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_point_cloud_random_sampler_with_normal.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__point__cloud__random__sampler__with__normal_8cpp.html</filename>
    <includes id="point__cloud__sampler__with__normal_8h" name="point_cloud_sampler_with_normal.h" local="no" imported="no">mcl_3dl/point_cloud_random_samplers/point_cloud_sampler_with_normal.h</includes>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <namespace>mcl_3dl</namespace>
    <namespace>mcl_3dl::test</namespace>
    <member kind="function">
      <type>std::vector&lt; State6DOF &gt;</type>
      <name>buildPoseCovarianceMatrix</name>
      <anchorfile>namespacemcl__3dl_1_1test.html</anchorfile>
      <anchor>af1aaeaa8b67404943dccc349192b645e</anchor>
      <arglist>(const double yaw, const double front_std_dev, const double side_std_dev)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildWall</name>
      <anchorfile>namespacemcl__3dl_1_1test.html</anchorfile>
      <anchor>a3ad75d020dd0e5ff9a9c291baf437529</anchor>
      <arglist>(pcl::PointCloud&lt; PointXYZIL &gt;::Ptr result_points, double rotation_angle, int wall_length)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__point__cloud__random__sampler__with__normal_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl_1_1test.html</anchorfile>
      <anchor>a78502f9d4a1794efa3113e79042ac54c</anchor>
      <arglist>(PointCloudSamplerWithNormal, Sampling)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_point_types.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__point__types_8cpp.html</filename>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__point__types_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__point__types_8cpp.html</anchorfile>
      <anchor>a4fb8c4e602c4dccace4ea453f938a0c4</anchor>
      <arglist>(PointTypes, VoxelGrid)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_quat.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__quat_8cpp.html</filename>
    <includes id="quat_8h" name="quat.h" local="no" imported="no">mcl_3dl/quat.h</includes>
    <member kind="define">
      <type>#define</type>
      <name>_USE_MATH_DEFINES</name>
      <anchorfile>test__quat_8cpp.html</anchorfile>
      <anchor>a525335710b53cb064ca56b936120431e</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__quat_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__quat_8cpp.html</anchorfile>
      <anchor>a07c661ba539197885177f429ff95f232</anchor>
      <arglist>(Quat, Constractors)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__quat_8cpp.html</anchorfile>
      <anchor>a9b0171dd78193dc5ff800b355ddd7f62</anchor>
      <arglist>(Quat, Norm)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__quat_8cpp.html</anchorfile>
      <anchor>a3395b80d773ea893f8f32a1b5efbc0f1</anchor>
      <arglist>(Quat, Operators)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__quat_8cpp.html</anchorfile>
      <anchor>a5098c786c29dbf3fce8633d355d6dc43</anchor>
      <arglist>(Quat, Products)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_raycast.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__raycast_8cpp.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="raycast__using__dda_8h" name="raycast_using_dda.h" local="no" imported="no">mcl_3dl/raycasts/raycast_using_dda.h</includes>
    <includes id="raycast__using__kdtree_8h" name="raycast_using_kdtree.h" local="no" imported="no">mcl_3dl/raycasts/raycast_using_kdtree.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__raycast_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__raycast_8cpp.html</anchorfile>
      <anchor>a942c1e918b63b27eef927f84c301144c</anchor>
      <arglist>(Raycast, Collision)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__raycast_8cpp.html</anchorfile>
      <anchor>aa1498fc6289d5b6334974293b94f8b9c</anchor>
      <arglist>(Raycast, CollisionTolerance)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__raycast_8cpp.html</anchorfile>
      <anchor>af1be64ae197517dc9e0449e2f787d02a</anchor>
      <arglist>(Raycast, SinAng)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_raycast_dda.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__raycast__dda_8cpp.html</filename>
    <includes id="chunked__kdtree_8h" name="chunked_kdtree.h" local="no" imported="no">mcl_3dl/chunked_kdtree.h</includes>
    <includes id="point__types_8h" name="point_types.h" local="no" imported="no">mcl_3dl/point_types.h</includes>
    <includes id="raycast__using__dda_8h" name="raycast_using_dda.h" local="no" imported="no">mcl_3dl/raycasts/raycast_using_dda.h</includes>
    <member kind="function">
      <type>void</type>
      <name>compareRayWaypoints</name>
      <anchorfile>test__raycast__dda_8cpp.html</anchorfile>
      <anchor>ae7fa91aa8e085f843b44734be821b3be</anchor>
      <arglist>(const char *name, typename mcl_3dl::ChunkedKdtree&lt; pcl::PointXYZ &gt;::Ptr kdtree, mcl_3dl::RaycastUsingDDA&lt; pcl::PointXYZ &gt; &amp;raycaster, const mcl_3dl::Vec3 &amp;ray_begin, const mcl_3dl::Vec3 &amp;ray_end, const std::vector&lt; mcl_3dl::Vec3 &gt; expected_points, const bool expected_collision)</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__raycast__dda_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__raycast__dda_8cpp.html</anchorfile>
      <anchor>a0db3e455a6c04a08b364dd1c8b590f6c</anchor>
      <arglist>(RaycastUsingDDA, Collision)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__raycast__dda_8cpp.html</anchorfile>
      <anchor>a6b438ed1326ff74ead6d2519460a3422</anchor>
      <arglist>(RaycastUsingDDA, CollisionTolerance)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__raycast__dda_8cpp.html</anchorfile>
      <anchor>ada262a80895f007c3a334c82e847419d</anchor>
      <arglist>(RaycastUsingDDA, Intersection)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__raycast__dda_8cpp.html</anchorfile>
      <anchor>ae55f0b4bd52b02fb1da5df67c459d53b</anchor>
      <arglist>(RaycastUsingDDA, Waypoints)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_state_6dof.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__state__6dof_8cpp.html</filename>
    <includes id="state__6dof_8h" name="state_6dof.h" local="no" imported="no">mcl_3dl/state_6dof.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__state__6dof_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__state__6dof_8cpp.html</anchorfile>
      <anchor>ad2c652453384b87bb527300e709f5d46</anchor>
      <arglist>(State6DOF, Accessors)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__state__6dof_8cpp.html</anchorfile>
      <anchor>a106924880f50646cd8bf9f9c33391640</anchor>
      <arglist>(State6DOF, Adder)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__state__6dof_8cpp.html</anchorfile>
      <anchor>a9489afeeec829909a71f579974cfd471</anchor>
      <arglist>(State6DOF, Constructors)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_transform_failure.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__transform__failure_8cpp.html</filename>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__transform__failure_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__transform__failure_8cpp.html</anchorfile>
      <anchor>aa2d27634c8d93b098461ec507d584a74</anchor>
      <arglist>(TransformFailure, NoDeadAgainstTransformFailure)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>test_vec3.cpp</name>
    <path>/tmp/ws/src/mcl_3dl/test/src/</path>
    <filename>test__vec3_8cpp.html</filename>
    <includes id="vec3_8h" name="vec3.h" local="no" imported="no">mcl_3dl/vec3.h</includes>
    <member kind="function">
      <type>int</type>
      <name>main</name>
      <anchorfile>test__vec3_8cpp.html</anchorfile>
      <anchor>a3c04138a5bfe5d72780bb7e82a18e627</anchor>
      <arglist>(int argc, char **argv)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__vec3_8cpp.html</anchorfile>
      <anchor>a059ad70b597242f062008a7509393191</anchor>
      <arglist>(Vec3, Constructors)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__vec3_8cpp.html</anchorfile>
      <anchor>a9ef2968a982b0a24f0924df7a8106558</anchor>
      <arglist>(Vec3, Norm)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__vec3_8cpp.html</anchorfile>
      <anchor>a8f172a46ad329739e3134b02008ca416</anchor>
      <arglist>(Vec3, Operators)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__vec3_8cpp.html</anchorfile>
      <anchor>a8e95f49a53b0a0e1f5b583004ead24fe</anchor>
      <arglist>(Vec3, Products)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>test__vec3_8cpp.html</anchorfile>
      <anchor>acd8c869ac574763d5bf8930387dbdb99</anchor>
      <arglist>(Vec3, Times)</arglist>
    </member>
  </compound>
  <compound kind="file">
    <name>vec3.h</name>
    <path>/tmp/ws/src/mcl_3dl/include/mcl_3dl/</path>
    <filename>vec3_8h.html</filename>
    <class kind="class">mcl_3dl::Vec3</class>
    <namespace>mcl_3dl</namespace>
  </compound>
  <compound kind="class">
    <name>BeamLabel</name>
    <filename>classBeamLabel.html</filename>
    <member kind="function">
      <type></type>
      <name>BeamLabel</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>aa19d685ae40d73c726098c4bba3b9774</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbPoseCov</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>a28df1f4678d9792e1e9d158627c9f90c</anchor>
      <arglist>(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetUp</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>a2f270f61ed9057c76cd174a8b0f448dc</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>a2d96cc96f7499aed07cdbcc8867f9767</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::PoseWithCovarianceStamped::ConstPtr</type>
      <name>pose_cov_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>ac77b3f4528cbb8ffe859d850907fb69a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_cloud_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>ab99b429ff7a3fd5096d88a09dc7dbd2b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_imu_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>acaf356cfbca80825edf3b295bf69fe99</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_init_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>a4687da449d990c6086ba4e95f4449106</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_mapcloud_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>aab04727db706593100f360d7fe74a480</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_odom_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>a547950e5227b0966763ad567241cac17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_pose_cov_</name>
      <anchorfile>classBeamLabel.html</anchorfile>
      <anchor>a5fc5d446e7dd94e9a11f4be3c3800600</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::Raycast::CastResult</name>
    <filename>classmcl__3dl_1_1Raycast_1_1CastResult.html</filename>
    <member kind="function">
      <type></type>
      <name>CastResult</name>
      <anchorfile>classmcl__3dl_1_1Raycast_1_1CastResult.html</anchorfile>
      <anchor>a7eb6118a51ea9c45f63b244e6b513316</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>CastResult</name>
      <anchorfile>classmcl__3dl_1_1Raycast_1_1CastResult.html</anchorfile>
      <anchor>a27bd6a8ee4f97cf223b0bc5cc179c115</anchor>
      <arglist>(const Vec3 &amp;pos, bool collision, float sin_angle, const POINT_TYPE *point)</arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>collision_</name>
      <anchorfile>classmcl__3dl_1_1Raycast_1_1CastResult.html</anchorfile>
      <anchor>a08e7d117aefae4951cea442bdb12cda0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const POINT_TYPE *</type>
      <name>point_</name>
      <anchorfile>classmcl__3dl_1_1Raycast_1_1CastResult.html</anchorfile>
      <anchor>a9d76c7a3ca003185c4b0f88493150ffd</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>Vec3</type>
      <name>pos_</name>
      <anchorfile>classmcl__3dl_1_1Raycast_1_1CastResult.html</anchorfile>
      <anchor>abd2d9fad75fe7ad9705560512590abad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>sin_angle_</name>
      <anchorfile>classmcl__3dl_1_1Raycast_1_1CastResult.html</anchorfile>
      <anchor>a5b8a72606f4c048aec9c06d4408c241e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::ChunkedKdtree::Chunk</name>
    <filename>classmcl__3dl_1_1ChunkedKdtree_1_1Chunk.html</filename>
    <member kind="function">
      <type></type>
      <name>Chunk</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1Chunk.html</anchorfile>
      <anchor>a3432b81a126998acb829a39c4e7ea7a4</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>pcl::PointCloud&lt; POINT_TYPE &gt;::Ptr</type>
      <name>cloud_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1Chunk.html</anchorfile>
      <anchor>a8b99a0dec62c166fd2cb9b26efc2ecf6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>pcl::KdTreeFLANN&lt; POINT_TYPE &gt;::Ptr</type>
      <name>kdtree_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1Chunk.html</anchorfile>
      <anchor>af327d96ae1eec1291eb6f18025496fd4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::vector&lt; size_t &gt;</type>
      <name>original_ids_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1Chunk.html</anchorfile>
      <anchor>a24978d4cce44b57fa1d427205e39279b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::ChunkedKdtree</name>
    <filename>classmcl__3dl_1_1ChunkedKdtree.html</filename>
    <templarg></templarg>
    <class kind="class">mcl_3dl::ChunkedKdtree::Chunk</class>
    <class kind="class">mcl_3dl::ChunkedKdtree::ChunkId</class>
    <member kind="typedef">
      <type>std::shared_ptr&lt; ChunkedKdtree &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>af2037af8edb50d8d5af4b042d50d5c62</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChunkedKdtree</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6a82179461fe79aa31553dde9e85b78e</anchor>
      <arglist>(const float chunk_length=20.0, const float max_search_radius=1.0, const bool keep_clouds=false)</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointCloud&lt; POINT_TYPE &gt;::Ptr</type>
      <name>getChunkCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aba3c490bdd9d231327be059c79ef6c32</anchor>
      <arglist>(const ChunkId &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointCloud&lt; POINT_TYPE &gt;::Ptr</type>
      <name>getChunkCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a0107eac20e41a4b0183e4a4bec946a82</anchor>
      <arglist>(const POINT_TYPE &amp;p)</arglist>
    </member>
    <member kind="function">
      <type>ChunkId</type>
      <name>getChunkId</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a26e93fb8a89a0d1429554e7e41940814</anchor>
      <arglist>(const POINT_TYPE &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>pcl::KdTreeFLANN&lt; POINT_TYPE &gt;::Ptr</type>
      <name>getChunkKdtree</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a845c170f1384bbf363eaa83193ca3155</anchor>
      <arglist>(const ChunkId &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>pcl::KdTreeFLANN&lt; POINT_TYPE &gt;::Ptr</type>
      <name>getChunkKdtree</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a3dc090c929318468d4aac6abe3716298</anchor>
      <arglist>(const POINT_TYPE &amp;p)</arglist>
    </member>
    <member kind="function">
      <type>const pcl::PointCloud&lt; POINT_TYPE &gt;::ConstPtr &amp;</type>
      <name>getInputCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aac4797f1f09bc73eed54cb8b261a923c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>radiusSearch</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aaf8155ecc639c2acab267c2f7630087d</anchor>
      <arglist>(const POINT_TYPE &amp;p, const float &amp;radius, std::vector&lt; int &gt; &amp;id, std::vector&lt; float &gt; &amp;dist_sq, const size_t &amp;num)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEpsilon</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ac6e27b8d71791b572b17dd9214b6bfa6</anchor>
      <arglist>(const float epsilon)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setInputCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aa3053681788e98d8724886ce169d8c59</anchor>
      <arglist>(const typename pcl::PointCloud&lt; POINT_TYPE &gt;::ConstPtr &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPointRepresentation</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a896dbd5860603ebe1d81eb7f4a8f1fe6</anchor>
      <arglist>(const typename pcl::PointRepresentation&lt; POINT_TYPE &gt;::ConstPtr point_rep)</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>std::unordered_map&lt; ChunkId, typename pcl::PointCloud&lt; POINT_TYPE &gt;, ChunkId &gt;</type>
      <name>ChunkCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a297f9485e77d1686a747c7e961544c50</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>std::unordered_map&lt; ChunkId, Chunk, ChunkId &gt;</type>
      <name>ChunkMap</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>af951d9d3e2451e0af7a3d617adb0b3e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>std::unordered_map&lt; ChunkId, std::vector&lt; size_t &gt;, ChunkId &gt;</type>
      <name>ChunkOriginalIds</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6e89f97f9c84e2d0516ca255979d6173</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const float</type>
      <name>chunk_length_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ae4a4e7a6773f1e2a291cb6e7daa24e66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ChunkMap</type>
      <name>chunks_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6f747eb99d2afb9c5d538d90e3a1d5bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>epsilon_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6a849ff739a1f3fb4c9afb11a532147d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; POINT_TYPE &gt;::ConstPtr</type>
      <name>input_cloud_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a4be050704c6ba2af17d6e7154066da93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>keep_clouds_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a3e36e737f72f442a2750cf4d57fe79c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const float</type>
      <name>max_search_radius_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a3ad77f1d03f4b51ee718f3860f838476</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointRepresentation&lt; POINT_TYPE &gt;::ConstPtr</type>
      <name>point_rep_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ab1301429e00764dd04c39f71a8e259cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const float</type>
      <name>pos_to_chunk_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ac290cd856df981b2a9a7f93b3e0b88d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>set_epsilon_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ac71bf2666e26a690e85f360820bccb0b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ChunkedKdtree&lt; mcl_3dl::PointXYZIL &gt;</name>
    <filename>classmcl__3dl_1_1ChunkedKdtree.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; ChunkedKdtree &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>af2037af8edb50d8d5af4b042d50d5c62</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChunkedKdtree</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6a82179461fe79aa31553dde9e85b78e</anchor>
      <arglist>(const float chunk_length=20.0, const float max_search_radius=1.0, const bool keep_clouds=false)</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt;::Ptr</type>
      <name>getChunkCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aba3c490bdd9d231327be059c79ef6c32</anchor>
      <arglist>(const ChunkId &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt;::Ptr</type>
      <name>getChunkCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a0107eac20e41a4b0183e4a4bec946a82</anchor>
      <arglist>(const mcl_3dl::PointXYZIL &amp;p)</arglist>
    </member>
    <member kind="function">
      <type>ChunkId</type>
      <name>getChunkId</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a26e93fb8a89a0d1429554e7e41940814</anchor>
      <arglist>(const mcl_3dl::PointXYZIL &amp;p) const</arglist>
    </member>
    <member kind="function">
      <type>pcl::KdTreeFLANN&lt; mcl_3dl::PointXYZIL &gt;::Ptr</type>
      <name>getChunkKdtree</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a845c170f1384bbf363eaa83193ca3155</anchor>
      <arglist>(const ChunkId &amp;c)</arglist>
    </member>
    <member kind="function">
      <type>pcl::KdTreeFLANN&lt; mcl_3dl::PointXYZIL &gt;::Ptr</type>
      <name>getChunkKdtree</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a3dc090c929318468d4aac6abe3716298</anchor>
      <arglist>(const mcl_3dl::PointXYZIL &amp;p)</arglist>
    </member>
    <member kind="function">
      <type>const pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt;::ConstPtr &amp;</type>
      <name>getInputCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aac4797f1f09bc73eed54cb8b261a923c</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>radiusSearch</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aaf8155ecc639c2acab267c2f7630087d</anchor>
      <arglist>(const mcl_3dl::PointXYZIL &amp;p, const float &amp;radius, std::vector&lt; int &gt; &amp;id, std::vector&lt; float &gt; &amp;dist_sq, const size_t &amp;num)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setEpsilon</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ac6e27b8d71791b572b17dd9214b6bfa6</anchor>
      <arglist>(const float epsilon)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setInputCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>aa3053681788e98d8724886ce169d8c59</anchor>
      <arglist>(const typename pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt;::ConstPtr &amp;cloud)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setPointRepresentation</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a896dbd5860603ebe1d81eb7f4a8f1fe6</anchor>
      <arglist>(const typename pcl::PointRepresentation&lt; mcl_3dl::PointXYZIL &gt;::ConstPtr point_rep)</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>std::unordered_map&lt; ChunkId, typename pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt;, ChunkId &gt;</type>
      <name>ChunkCloud</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a297f9485e77d1686a747c7e961544c50</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>std::unordered_map&lt; ChunkId, Chunk, ChunkId &gt;</type>
      <name>ChunkMap</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>af951d9d3e2451e0af7a3d617adb0b3e9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>std::unordered_map&lt; ChunkId, std::vector&lt; size_t &gt;, ChunkId &gt;</type>
      <name>ChunkOriginalIds</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6e89f97f9c84e2d0516ca255979d6173</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const float</type>
      <name>chunk_length_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ae4a4e7a6773f1e2a291cb6e7daa24e66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ChunkMap</type>
      <name>chunks_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6f747eb99d2afb9c5d538d90e3a1d5bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>epsilon_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a6a849ff739a1f3fb4c9afb11a532147d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; mcl_3dl::PointXYZIL &gt;::ConstPtr</type>
      <name>input_cloud_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a4be050704c6ba2af17d6e7154066da93</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>keep_clouds_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a3e36e737f72f442a2750cf4d57fe79c7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const float</type>
      <name>max_search_radius_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>a3ad77f1d03f4b51ee718f3860f838476</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointRepresentation&lt; mcl_3dl::PointXYZIL &gt;::ConstPtr</type>
      <name>point_rep_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ab1301429e00764dd04c39f71a8e259cc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>const float</type>
      <name>pos_to_chunk_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ac290cd856df981b2a9a7f93b3e0b88d0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>set_epsilon_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree.html</anchorfile>
      <anchor>ac71bf2666e26a690e85f360820bccb0b</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::ChunkedKdtree::ChunkId</name>
    <filename>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; ChunkId &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>a7870bb925faacb5e1b30c1eee7450081</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChunkId</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>aaca659f70111b2040ae79892911afe70</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ChunkId</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>a093569fd67488a30f659fd7d82acaf3b</anchor>
      <arglist>(const int x, const int y, const int z)</arglist>
    </member>
    <member kind="function">
      <type>constexpr bool</type>
      <name>operator!=</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>adcfb5ca855bfec6ceb0c034e93a09883</anchor>
      <arglist>(const ChunkId &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>operator()</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>a6dd77be8d828b82a45d1ebf2fc0032f5</anchor>
      <arglist>(const ChunkId &amp;id) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr ChunkId</type>
      <name>operator+</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>a988ba9d515f573b2cfbebc03404cc736</anchor>
      <arglist>(const ChunkId &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr bool</type>
      <name>operator==</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>a9568a767a8db6b01e9b894b1f054b759</anchor>
      <arglist>(const ChunkId &amp;a) const</arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>x_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>a87912c0466aa25391925dd41e1ca4362</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>y_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>aa459c8cfaaa7bf3a51e351cab3ae2560</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>z_</name>
      <anchorfile>classmcl__3dl_1_1ChunkedKdtree_1_1ChunkId.html</anchorfile>
      <anchor>a59151ef8bc90ff14ebd206ac81e1a959</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::CloudAccumulationLogic</name>
    <filename>classmcl__3dl_1_1CloudAccumulationLogic.html</filename>
    <base>mcl_3dl::CloudAccumulationLogicBase</base>
    <member kind="function">
      <type></type>
      <name>CloudAccumulationLogic</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogic.html</anchorfile>
      <anchor>a0b682fce9029f77133175cbd9ca09964</anchor>
      <arglist>(const size_t accum, const size_t accum_max)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>push</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogic.html</anchorfile>
      <anchor>ab01deb16ba01e77c019b340e270e7a02</anchor>
      <arglist>(const std::string &amp;key, const sensor_msgs::PointCloud2::ConstPtr &amp;msg, std::function&lt; void()&gt; process, std::function&lt; bool(const sensor_msgs::PointCloud2::ConstPtr &amp;)&gt; accumulate, std::function&lt; void()&gt; clear) final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogic.html</anchorfile>
      <anchor>a6ad4f1e84ca9cbf40cab720a9dd463ca</anchor>
      <arglist>() final</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>accum_</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogic.html</anchorfile>
      <anchor>a71389f3830a0c4c44b9e058d05a2d51b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>accum_max_</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogic.html</anchorfile>
      <anchor>a70a3e6330e19131688e91a3e7de27ee0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>cnt_accum_</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogic.html</anchorfile>
      <anchor>a54cd993b4f03b8ddcc1514ae691aed5e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; std::string &gt;</type>
      <name>keys_</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogic.html</anchorfile>
      <anchor>aa3573605b9d7e433f5351a3338e50b41</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::CloudAccumulationLogicBase</name>
    <filename>classmcl__3dl_1_1CloudAccumulationLogicBase.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; CloudAccumulationLogicBase &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogicBase.html</anchorfile>
      <anchor>aa494bf32b90f928098cc0b7d6838ce87</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>push</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogicBase.html</anchorfile>
      <anchor>a00d3a28314910f10129a2f6a90854704</anchor>
      <arglist>(const std::string &amp;key, const sensor_msgs::PointCloud2::ConstPtr &amp;msg, std::function&lt; void()&gt; process, std::function&lt; bool(const sensor_msgs::PointCloud2::ConstPtr &amp;)&gt; accumulate, std::function&lt; void()&gt; clear)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>reset</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogicBase.html</anchorfile>
      <anchor>a9f7c3549429feb6814a9bf85adad1f77</anchor>
      <arglist>()=0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::CloudAccumulationLogicPassThrough</name>
    <filename>classmcl__3dl_1_1CloudAccumulationLogicPassThrough.html</filename>
    <base>mcl_3dl::CloudAccumulationLogicBase</base>
    <member kind="function">
      <type>void</type>
      <name>push</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogicPassThrough.html</anchorfile>
      <anchor>a34c2630c9d6f35eb968354ea51505191</anchor>
      <arglist>(const std::string &amp;key, const sensor_msgs::PointCloud2::ConstPtr &amp;msg, std::function&lt; void()&gt; process, std::function&lt; bool(const sensor_msgs::PointCloud2::ConstPtr &amp;)&gt; accumulate, std::function&lt; void()&gt; clear) final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>reset</name>
      <anchorfile>classmcl__3dl_1_1CloudAccumulationLogicPassThrough.html</anchorfile>
      <anchor>a4bf08f7a45d94021a7d2004d2979746b</anchor>
      <arglist>() final</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::DiagonalNoiseGenerator</name>
    <filename>classmcl__3dl_1_1DiagonalNoiseGenerator.html</filename>
    <templarg></templarg>
    <base>mcl_3dl::NoiseGeneratorBase</base>
    <member kind="typedef">
      <type>NoiseGeneratorBase&lt; FLT_TYPE &gt;</type>
      <name>Parent</name>
      <anchorfile>classmcl__3dl_1_1DiagonalNoiseGenerator.html</anchorfile>
      <anchor>a5083cf017e832cea8d08586d8d77e4a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>DiagonalNoiseGenerator</name>
      <anchorfile>classmcl__3dl_1_1DiagonalNoiseGenerator.html</anchorfile>
      <anchor>abcfcf8a6fbd2ca5ba23153a3e31a2952</anchor>
      <arglist>(const T &amp;mean, const T &amp;sigma)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; FLT_TYPE &gt;</type>
      <name>operator()</name>
      <anchorfile>classmcl__3dl_1_1DiagonalNoiseGenerator.html</anchorfile>
      <anchor>aabfb523390b5d3291462f7a5251d6125</anchor>
      <arglist>(RANDOM_ENGINE &amp;engine) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSigma</name>
      <anchorfile>classmcl__3dl_1_1DiagonalNoiseGenerator.html</anchorfile>
      <anchor>a8d8f7b979f69c6386f740fbfbbeb7a5a</anchor>
      <arglist>(const State6DOF &amp;sigma)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setSigma</name>
      <anchorfile>classmcl__3dl_1_1DiagonalNoiseGenerator.html</anchorfile>
      <anchor>a06c17b647c4c0e27864252e5a145cd92</anchor>
      <arglist>(const T &amp;sigma)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; FLT_TYPE &gt;</type>
      <name>sigma_</name>
      <anchorfile>classmcl__3dl_1_1DiagonalNoiseGenerator.html</anchorfile>
      <anchor>a403b3be45ab1663e973dde2af207e3d6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ExpansionResetting</name>
    <filename>classExpansionResetting.html</filename>
    <member kind="function">
      <type></type>
      <name>ExpansionResetting</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a5ba92281c272a8dc9cc70f48018b8921</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbPose</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a3e80e1348b89c2cde595e62245c49db2</anchor>
      <arglist>(const geometry_msgs::PoseArray::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbPoseCov</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a13c92b3772a3b49e0e0239d9e2cd0f90</anchor>
      <arglist>(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbStatus</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>aab0d7f5e6649103657bc2864d4c31bf6</anchor>
      <arglist>(const mcl_3dl_msgs::Status::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>findTruePose</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a256dee9042a84ba91ee8f5dd2cdc2200</anchor>
      <arglist>(const tf2::Transform &amp;true_pose)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>SetUp</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a14491a61bda3bae3a1ea2ede2990e7b1</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a2b595c5b4ab9637d02e010cac44a2902</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::PoseWithCovarianceStamped::ConstPtr</type>
      <name>pose_cov_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a2e434f7ffd81f2ccbb0f6f3350df8c1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>geometry_msgs::PoseArray::ConstPtr</type>
      <name>poses_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a5232b5191dac6379ea0b5db51cd039ad</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_cloud_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>ab07b49766f4d7b66fbd66c0f6c78246b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_imu_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a2b21bb2fcb935e47a06016c72e3d65e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_init_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>ad3d093e60f1853b98ace49155cf5cc3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_mapcloud_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a8d045b3057c5049251d8ebe0251805f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_odom_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a4d9c01d62d7c63357f0c54630f85bcb8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceClient</type>
      <name>src_expansion_resetting_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a7154106c1ba5603c8b0ad822e3467e87</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>mcl_3dl_msgs::Status::ConstPtr</type>
      <name>status_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>afcaa7aaac142c83aad5ffd25227b8759</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_pose_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a33ff865bc50600bdfde23fb884e5c412</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_pose_cov_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>a8c1650f64312e2a30ebc8872c4fc4177</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_status_</name>
      <anchorfile>classExpansionResetting.html</anchorfile>
      <anchor>ad1c21663b4aaf525295acbeee1369030</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::Filter</name>
    <filename>classmcl__3dl_1_1Filter.html</filename>
    <member kind="enumvalue">
      <name>FILTER_HPF</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a414fad6ce446deedc57ae3ed6ce21a47ab69b82973333d6be4337002678f2b824</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FILTER_LPF</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a414fad6ce446deedc57ae3ed6ce21a47a4d027b0b9ce3c181750df586b1d97b80</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumeration">
      <type></type>
      <name>type_t</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a414fad6ce446deedc57ae3ed6ce21a47</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FILTER_HPF</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a414fad6ce446deedc57ae3ed6ce21a47ab69b82973333d6be4337002678f2b824</anchor>
      <arglist></arglist>
    </member>
    <member kind="enumvalue">
      <name>FILTER_LPF</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a414fad6ce446deedc57ae3ed6ce21a47a4d027b0b9ce3c181750df586b1d97b80</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Filter</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a983343dc8f832cbe0089b92f9abd9c05</anchor>
      <arglist>(const enum type_t type, const float time_const, const float out0, const bool angle=false)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>get</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a14e3de9030b76f2c2f5061d131e61be7</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>in</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>aa01bf38bd512adb2f053ab8b1d2b139d</anchor>
      <arglist>(float in)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>ab17f8695d316d0efb8d991eb6ae4f0a5</anchor>
      <arglist>(const float out0)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>angle_</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a0569f4a0ee6cd36a8467240d3eac4144</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>k_</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a0b35cc165b6f1cf4ae145daa87c6b7d5</anchor>
      <arglist>[4]</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>out_</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>ae5777c32e589d13b98bd9244d6e35bd0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>x_</name>
      <anchorfile>classmcl__3dl_1_1Filter.html</anchorfile>
      <anchor>a64434f0f74953bc4c4fc96449a644df6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::FilterVec3</name>
    <filename>classmcl__3dl_1_1FilterVec3.html</filename>
    <member kind="function">
      <type></type>
      <name>FilterVec3</name>
      <anchorfile>classmcl__3dl_1_1FilterVec3.html</anchorfile>
      <anchor>ad2d51e29a1d9ffcbe56ea8a6112ac22e</anchor>
      <arglist>(Filter::type_t type, const Vec3 &amp;time_const, const Vec3 &amp;out0, const bool angle=false)</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>get</name>
      <anchorfile>classmcl__3dl_1_1FilterVec3.html</anchorfile>
      <anchor>a4b92bed96879b10c07e2b4da4653a28e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>in</name>
      <anchorfile>classmcl__3dl_1_1FilterVec3.html</anchorfile>
      <anchor>aec4165a5d552c48aaa150050261f2391</anchor>
      <arglist>(const Vec3 &amp;in)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>set</name>
      <anchorfile>classmcl__3dl_1_1FilterVec3.html</anchorfile>
      <anchor>a76ef5b2e5b7c7f134bd0324c4e058b1f</anchor>
      <arglist>(const Vec3 &amp;out0)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::array&lt; Filter, 3 &gt;</type>
      <name>f_</name>
      <anchorfile>classmcl__3dl_1_1FilterVec3.html</anchorfile>
      <anchor>ab845f959dd9fe56a9db07b8d25e9624c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>x_</name>
      <anchorfile>classmcl__3dl_1_1FilterVec3.html</anchorfile>
      <anchor>ad2a1592c1955052318e4b69060d09a2c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>GlobalLocalization</name>
    <filename>classGlobalLocalization.html</filename>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::ImuMeasurementModelBase</name>
    <filename>classmcl__3dl_1_1ImuMeasurementModelBase.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; ImuMeasurementModelBase &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelBase.html</anchorfile>
      <anchor>aa2b6bca3e15ca85b622a143fab7f04db</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual float</type>
      <name>measure</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelBase.html</anchorfile>
      <anchor>abed9be7940ee45e1fd75839b5b4158fe</anchor>
      <arglist>(const State6DOF &amp;s) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setAccMeasure</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelBase.html</anchorfile>
      <anchor>a1841b2361b2e7a2daa71b414f106c933</anchor>
      <arglist>(const Vec3 &amp;acc_measure)=0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::ImuMeasurementModelGravity</name>
    <filename>classmcl__3dl_1_1ImuMeasurementModelGravity.html</filename>
    <base>mcl_3dl::ImuMeasurementModelBase</base>
    <member kind="function">
      <type></type>
      <name>ImuMeasurementModelGravity</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelGravity.html</anchorfile>
      <anchor>a0fc880ea57588885fb5b33ce8b68f770</anchor>
      <arglist>(const float acc_var)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>measure</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelGravity.html</anchorfile>
      <anchor>a8d56c807539c1ccbec975e040bca2b18</anchor>
      <arglist>(const State6DOF &amp;s) const final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAccMeasure</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelGravity.html</anchorfile>
      <anchor>a874cfe4bd73765ae71c2dbfb5187303f</anchor>
      <arglist>(const Vec3 &amp;acc_measure) final</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>acc_measure_</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelGravity.html</anchorfile>
      <anchor>a428c5021159553f114be2f4ec91db893</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>acc_measure_norm_</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelGravity.html</anchorfile>
      <anchor>adb80aab6b3b439e2ce8adf937b28c32a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>NormalLikelihood&lt; float &gt;</type>
      <name>nd_</name>
      <anchorfile>classmcl__3dl_1_1ImuMeasurementModelGravity.html</anchorfile>
      <anchor>ae9db432c4bcaed1e06caf3b15473dd40</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::LidarMeasurementModelBase</name>
    <filename>classmcl__3dl_1_1LidarMeasurementModelBase.html</filename>
    <member kind="typedef">
      <type>mcl_3dl::PointXYZIL</type>
      <name>PointType</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>a31d02d988f888bbec2687052a9ce174a</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>std::shared_ptr&lt; LidarMeasurementModelBase &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>a638f9137f2e9a40d776cb277bf81e4d9</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>PointCloudRandomSampler&lt; PointType &gt;</type>
      <name>SamplerType</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>a05ae2811febf73679c82379f0404d345</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>filter</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>a57363e1c90d13753a65bf440c071ac68</anchor>
      <arglist>(const pcl::PointCloud&lt; PointType &gt;::ConstPtr &amp;) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual float</type>
      <name>getMaxSearchRange</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>aad1ad8b66af107e44e1a4bbedb3c31a4</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function">
      <type>std::shared_ptr&lt; SamplerType &gt;</type>
      <name>getRandomSampler</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>a9c5007673128535840a48a05eab4f78c</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LidarMeasurementModelBase</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>ab7ed336534af6e00d0a297ba72257314</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>loadConfig</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>a70d99a4455fcfec1b4676669da36388c</anchor>
      <arglist>(const ros::NodeHandle &amp;nh, const std::string &amp;name)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual LidarMeasurementResult</type>
      <name>measure</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>ab012c6ba0ce793e53de945d9e6415353</anchor>
      <arglist>(ChunkedKdtree&lt; PointType &gt;::Ptr &amp;, const pcl::PointCloud&lt; PointType &gt;::ConstPtr &amp;, const std::vector&lt; Vec3 &gt; &amp;, const State6DOF &amp;) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setGlobalLocalizationStatus</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>acd61c4ac22d249a82b2e4a43e425fa55</anchor>
      <arglist>(const size_t, const size_t)=0</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRandomSampler</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>addf93d1015689121637b4136b7a52e5f</anchor>
      <arglist>(const std::shared_ptr&lt; SamplerType &gt; &amp;sampler)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; SamplerType &gt;</type>
      <name>sampler_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBase.html</anchorfile>
      <anchor>a1adf4cc916b18ce8f7aefc2a5a8fdc03</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::LidarMeasurementModelBeam</name>
    <filename>classmcl__3dl_1_1LidarMeasurementModelBeam.html</filename>
    <base>mcl_3dl::LidarMeasurementModelBase</base>
    <member kind="enumeration">
      <type></type>
      <name>BeamStatus</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>aaeddd6067672c6fa78d560c175781445</anchor>
      <arglist></arglist>
      <enumvalue file="classmcl__3dl_1_1LidarMeasurementModelBeam.html" anchor="aaeddd6067672c6fa78d560c175781445aa35c2b02966b1563e5bf7b81b8b0cf77">SHORT</enumvalue>
      <enumvalue file="classmcl__3dl_1_1LidarMeasurementModelBeam.html" anchor="aaeddd6067672c6fa78d560c175781445a4e5e3542d523b7fb9c61887d5bb7d642">HIT</enumvalue>
      <enumvalue file="classmcl__3dl_1_1LidarMeasurementModelBeam.html" anchor="aaeddd6067672c6fa78d560c175781445ac1fabfea54ec6011e694f211f3ffebf3">LONG</enumvalue>
      <enumvalue file="classmcl__3dl_1_1LidarMeasurementModelBeam.html" anchor="aaeddd6067672c6fa78d560c175781445aa1c8caa87016aa07c213978f1a40d398">TOTAL_REFLECTION</enumvalue>
    </member>
    <member kind="function">
      <type>pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>filter</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>aebc5dac87ca4f8155ad3d623b8287c17</anchor>
      <arglist>(const pcl::PointCloud&lt; PointType &gt;::ConstPtr &amp;pc) const</arglist>
    </member>
    <member kind="function">
      <type>BeamStatus</type>
      <name>getBeamStatus</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>aabcc251cf982dfff5c4efabee9a4815a</anchor>
      <arglist>(ChunkedKdtree&lt; PointType &gt;::Ptr &amp;kdtree, const Vec3 &amp;beam_begin, const Vec3 &amp;beam_end, typename mcl_3dl::Raycast&lt; PointType &gt;::CastResult &amp;result) const</arglist>
    </member>
    <member kind="function">
      <type>uint32_t</type>
      <name>getFilterLabelMax</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a5b51f2f36e8464fc072f0ad53c6d17f1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>getMaxSearchRange</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a4a776fa7056d0e567e20a664ebd2bbfa</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>getSinTotalRef</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>ac0a6f846ae4d02be58e372d105871f0f</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>LidarMeasurementModelBeam</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>ae045d2f3ccf3e8c9fd13ad1320c2bc09</anchor>
      <arglist>(const float grid_size_x, const float grid_size_y, const float grid_size_z)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadConfig</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a15714a1ef31df46225ffa94692a89eb1</anchor>
      <arglist>(const ros::NodeHandle &amp;nh, const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type>LidarMeasurementResult</type>
      <name>measure</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a5be745e75e61c8523b9770bc5987c76a</anchor>
      <arglist>(ChunkedKdtree&lt; PointType &gt;::Ptr &amp;kdtree, const pcl::PointCloud&lt; PointType &gt;::ConstPtr &amp;pc, const std::vector&lt; Vec3 &gt; &amp;origins, const State6DOF &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setGlobalLocalizationStatus</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>adc267dee535609fa9115ec256a1868ab</anchor>
      <arglist>(const size_t num_particles, const size_t current_num_particles)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>bool</type>
      <name>add_penalty_short_only_mode_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>aaf514985ffa392033c26e1830a45138f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>additional_search_range_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a312d024806848c1c7b238637deff5e26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>beam_likelihood_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>aa63c566ea99db3b4f5068090fa118726</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>beam_likelihood_min_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a71277dc0618e9ee4427a3200ac224758</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_far_sq_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>aea5a5cf809236bf778bb0d9e61998343</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_near_sq_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a6f290c9a5d9a6c538476a17848d420e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_z_max_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a1b878ce97a3d45fb20d1f6b905bd80fa</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_z_min_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a2471e5a31550708353511f44ed599b20</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>uint32_t</type>
      <name>filter_label_max_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>ad64295f930c601b5a802e539297b29ee</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>hit_range_sq_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>afb742b4330b8530ce6cb3d585690396d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>map_grid_x_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a572cec20fc3465401116982bbe77b157</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>map_grid_y_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a6dafa1e1c54d7d7c39e3e79e8333742f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>map_grid_z_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a1e6dc8c7da0fcbd140f3aa8c2945972d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>num_points_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>ab44656684716b05c775dfb68bfa2c5f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>num_points_default_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a204910e2f408151f346d9e249c775f55</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>num_points_global_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>ad7ba489a82281a3ad35d401c993033eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; Raycast&lt; LidarMeasurementModelBase::PointType &gt; &gt;</type>
      <name>raycaster_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a601cbaf4b553b658cfbc83ab11b404a3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>search_range_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a44fadb4e3f15394c53f4e40838e627ca</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>sin_total_ref_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelBeam.html</anchorfile>
      <anchor>a0093b854374bb8d82d7d2a74fde1dde5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::LidarMeasurementModelLikelihood</name>
    <filename>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</filename>
    <base>mcl_3dl::LidarMeasurementModelBase</base>
    <member kind="function">
      <type>pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>filter</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>aaf859e0498cfe8bf4323d995c5c74c34</anchor>
      <arglist>(const pcl::PointCloud&lt; PointType &gt;::ConstPtr &amp;pc) const</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>getMaxSearchRange</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>a6b854a35595d784bfcf01f252897ba86</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>loadConfig</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>a36c001c6b886da693ac9f4940040d973</anchor>
      <arglist>(const ros::NodeHandle &amp;nh, const std::string &amp;name)</arglist>
    </member>
    <member kind="function">
      <type>LidarMeasurementResult</type>
      <name>measure</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>a9cba19bc9077db1ddfef24c34fe686a5</anchor>
      <arglist>(ChunkedKdtree&lt; PointType &gt;::Ptr &amp;kdtree, const pcl::PointCloud&lt; PointType &gt;::ConstPtr &amp;pc, const std::vector&lt; Vec3 &gt; &amp;origins, const State6DOF &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setGlobalLocalizationStatus</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>ac562f719aa1f6ed9dae6da7577b30e86</anchor>
      <arglist>(const size_t num_particles, const size_t current_num_particles)</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_far_sq_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>ac2b2b396aaef79fb54de02c53fbf96b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_near_sq_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>a40cc29ebe505d80784169d12bee9371b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_z_max_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>ae7fe7db8ec3e98b3a1731cdf76e39a5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>clip_z_min_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>a365f110c4c6989de13ed6d1dbaeb533f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>match_dist_flat_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>aa6759e6248b85a42ad5ce3b099a27c53</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>match_dist_min_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>afbac326dcd060774aa3f1d7d3d4da161</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>match_weight_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>aa913a267d3bed0a761c7feeaf286c057</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>num_points_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>a46bafef57577d7623cb6810cd6c0806c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>num_points_default_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>ad53dd682dbe2e31cee1b86f5bd86e586</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>size_t</type>
      <name>num_points_global_</name>
      <anchorfile>classmcl__3dl_1_1LidarMeasurementModelLikelihood.html</anchorfile>
      <anchor>a91b4068681ed61a89b3919d2e3eb673e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>mcl_3dl::LidarMeasurementResult</name>
    <filename>structmcl__3dl_1_1LidarMeasurementResult.html</filename>
    <member kind="function">
      <type></type>
      <name>LidarMeasurementResult</name>
      <anchorfile>structmcl__3dl_1_1LidarMeasurementResult.html</anchorfile>
      <anchor>a59ba1ff2bd0077b1e00221e40a861691</anchor>
      <arglist>(const float likelihood_value, const float quality_value)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>likelihood</name>
      <anchorfile>structmcl__3dl_1_1LidarMeasurementResult.html</anchorfile>
      <anchor>a5966d33a7c0f946a4e730a5a2126c5d1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>quality</name>
      <anchorfile>structmcl__3dl_1_1LidarMeasurementResult.html</anchorfile>
      <anchor>a3ef69541d32bd6621e4ffd1777b1a9e5</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>Mcl3DlCompatCallbacks</name>
    <filename>classMcl3DlCompatCallbacks.html</filename>
    <member kind="function">
      <type>void</type>
      <name>cb</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a12a608b86ef9c87eff9ef31832fad739</anchor>
      <arglist>(const std_msgs::Bool::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>cbConst</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a32f89e0e0c7dd298521e671af01a7db7</anchor>
      <arglist>(const std_msgs::Bool::ConstPtr &amp;msg) const</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>cbSrv</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a35e6e23c0a1d80ca1ea2e4dfbf531145</anchor>
      <arglist>(std_srvs::Empty::Request &amp;req, std_srvs::Empty::Response &amp;res)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Mcl3DlCompatCallbacks</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a1aa0efbb60ed3a05982cff26a8601db9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::Bool::ConstPtr</type>
      <name>msg_</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a271bed058d8182ccc164cb5721fc6d88</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std_msgs::Bool::ConstPtr</type>
      <name>msg_const_</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a7f1c50215d198d539e5a6b1936a0d990</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a293cde0829d8b14c163349cdf46b0ac4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>ros::NodeHandle</type>
      <name>pnh_</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>a09693b64249a18c1154792f51efc8525</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>srv_called_</name>
      <anchorfile>classMcl3DlCompatCallbacks.html</anchorfile>
      <anchor>acc29095107c496995bcbe2695a184d25</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::MCL3dlNode</name>
    <filename>classmcl__3dl_1_1MCL3dlNode.html</filename>
    <class kind="class">mcl_3dl::MCL3dlNode::MyPointRepresentation</class>
    <member kind="function">
      <type>void</type>
      <name>cbMapUpdateTimer</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ae61ca7d50c756b25b05554e49dd6ba66</anchor>
      <arglist>(const ros::TimerEvent &amp;event)</arglist>
    </member>
    <member kind="function">
      <type>bool</type>
      <name>configure</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>aec3c8dd6d0b95a1f1878a71944afeb0d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MCL3dlNode</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a0df2a39d6605b89cd029ae5d2983201e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>~MCL3dlNode</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a1632b5c8734a857be107b67296215314</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="typedef" protection="protected">
      <type>mcl_3dl::PointXYZIL</type>
      <name>PointType</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a98cfd6e791658c847ea55e59e96f1ea9</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>accumClear</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a9a4e8c6e3851b92cfc88c3226b99c95d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>accumCloud</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>aefc6a1634a45c31a7ed3b0d2693cd2cd</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbCloud</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>abf4079441beb6ca3d5c07f98047f3869</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>cbExpansionReset</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a4f25875b26d78d8f5f96748d76943c8c</anchor>
      <arglist>(std_srvs::TriggerRequest &amp;request, std_srvs::TriggerResponse &amp;response)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>cbGlobalLocalization</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a27cc948a08c35c0d9dda836a118dc228</anchor>
      <arglist>(std_srvs::TriggerRequest &amp;request, std_srvs::TriggerResponse &amp;response)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbImu</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a3cb9b5392db587bc52f33b610fdd7bf9</anchor>
      <arglist>(const sensor_msgs::Imu::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbLandmark</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab039038c0707bf38f5a4a6f7358d0dd2</anchor>
      <arglist>(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>cbLoadPCD</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ae8213bac98553b0a8de94ea8a61db708</anchor>
      <arglist>(mcl_3dl_msgs::LoadPCD::Request &amp;req, mcl_3dl_msgs::LoadPCD::Response &amp;resp)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbMapcloud</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>af11e180583bb37decea6155778aa824f</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbMapcloudUpdate</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a58370a902b8d32400f8af105fa42e2e9</anchor>
      <arglist>(const sensor_msgs::PointCloud2::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbOdom</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>acb369e58adc4dfab278707ebc37f9bdb</anchor>
      <arglist>(const nav_msgs::Odometry::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>cbPosition</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a09b490b5acab6cf67ecb1e2828414698</anchor>
      <arglist>(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr &amp;msg)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>bool</type>
      <name>cbResizeParticle</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a70ad61e73cb5420b1a63f320fcdd701e</anchor>
      <arglist>(mcl_3dl_msgs::ResizeParticleRequest &amp;request, mcl_3dl_msgs::ResizeParticleResponse &amp;response)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>diagnoseStatus</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a7112bcbe3c6ea9c625e50f16a682fedb</anchor>
      <arglist>(diagnostic_updater::DiagnosticStatusWrapper &amp;stat)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>loadMapCloud</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>accdfdfa94090841ff53decc0d726b017</anchor>
      <arglist>(const pcl::PointCloud&lt; PointType &gt;::Ptr &amp;map_cloud)</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>measure</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a62eafc017cf208f73a69cbd666dd9a23</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" protection="protected">
      <type>void</type>
      <name>publishParticles</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>af424072660cd6788aabb68f16777e964</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>CloudAccumulationLogicBase::Ptr</type>
      <name>accum_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a47e775904c375792e8ede7f4cfaee1d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>cnt_measure_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a057b5713f8b38c3941da5e199134693d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>diagnostic_updater::Updater</type>
      <name>diag_updater_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a8ee351cc6dcf04407454c36b0754e0b0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::default_random_engine</type>
      <name>engine_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a36a82bf3613776314653f31648c5cbc3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; FilterVec3 &gt;</type>
      <name>f_acc_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a111c910ae87da4d8732cada065019f63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; FilterVec3 &gt;</type>
      <name>f_ang_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a16ba722493de398f68b830db3b21e444</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; FilterVec3 &gt;</type>
      <name>f_pos_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a571e30384a05e6ce93b24460aaf5b808</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>size_t</type>
      <name>global_localization_fix_cnt_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a51ddf89e8aa8b6fcf6a49d5779e5a24c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>has_imu_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>afa78ca3b2738fc52fc6dc4993c39f997</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>has_map_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a75e2b47a6f460e79b016e96f3b3676e3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>bool</type>
      <name>has_odom_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab139511f85344c54e565187934579602</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>imu_last_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>aaf8770f45c19e582875c26e1a5236f98</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ImuMeasurementModelBase::Ptr</type>
      <name>imu_measurement_model_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a0ee96b5ee1b29e92f821a83aaa477320</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Quat</type>
      <name>imu_quat_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>abb868c1e40a03b9c2012a00a52cb6000</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ChunkedKdtree&lt; PointType &gt;::Ptr</type>
      <name>kdtree_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a448a3d7d19aabd82416981b5219e355f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::map&lt; std::string, LidarMeasurementModelBase::Ptr &gt;</type>
      <name>lidar_measurements_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab414f681489f4576eebbcbc5fc582408</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; Filter &gt;</type>
      <name>localize_rate_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a3013f27d943439e95cfe421527b96c52</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>localized_last_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ac3e5ef5d125321e3dd26a96ee159cb76</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Timer</type>
      <name>map_update_timer_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>abb9157beaf8d2fa4b02b009d8d1286b9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>match_output_last_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a5c2c8b8c7faaee60063ca7881257d497</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MotionPredictionModelBase::Ptr</type>
      <name>motion_prediction_model_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a13baa88af6e784c97ab3c700bad8b1ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>nh_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a7a110ee86a77280b22cd55c5f1462ab0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>State6DOF</type>
      <name>odom_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>aef9fca15d2d0a106695d30cd56855b59</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Time</type>
      <name>odom_last_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a54467949a3a9afb9bcfb4fc6764aff12</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>State6DOF</type>
      <name>odom_prev_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a83e43d99215fb2732a7df9abfcafa6a5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Parameters</type>
      <name>params_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a7ce95cfadedc3fba67ffe48b3a59395f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; std_msgs::Header &gt;</type>
      <name>pc_accum_header_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab329cfaa331354c4fcbd7bc92e5f195c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>pc_all_accum_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a6c3d8641de8039a0207150724bc15925</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>pc_local_accum_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab7034334ac4265a00bb2f18a67a772d6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>pc_map2_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a9ae02cb1f0fc227bfad52b7a6faf4c54</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>pc_map_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>afcd2e14b29f8b3cbcf104242d0f289c1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>pcl::PointCloud&lt; PointType &gt;::Ptr</type>
      <name>pc_update_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a5475ec1e4335bbf1f37c63e94a3d9d31</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::shared_ptr&lt; pf::ParticleFilter&lt; State6DOF, float, ParticleWeightedMeanQuat, std::default_random_engine &gt; &gt;</type>
      <name>pf_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a44c6d4f1504769a9aecd99ea511ab2e8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::NodeHandle</type>
      <name>pnh_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ac448ddb6fc5a5242fa8eae83baa34881</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>MyPointRepresentation::Ptr</type>
      <name>point_rep_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a75d48218b010472d23cd3bd4675c9028</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_debug_marker_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a8e207c83f55cbc7d8c9baec63fd34d4e</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_mapcloud_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab1973200e08d093793586c64e0b93e10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_matched_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>abbe0295d9f2b0b6533d76435a029aa10</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_particle_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a4db939e06fb0fbf74950869d6baedd02</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_pose_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>aae1c0d22f5e918bd373c8d5ec98d4698</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_status_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>af52ebed8003109004295c42997dfc664</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Publisher</type>
      <name>pub_unmatched_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a289197a2a65d15aece6774eb59eb03e5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::random_device</type>
      <name>seed_gen_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a721ba205bdc3f380a8e87a143a67e677</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>srv_expansion_reset_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>adc1024bddf7887f79580e3d61511dc32</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>srv_global_localization_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ac547143b9e4c65d74f9019dc504a516b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>srv_load_pcd_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a961e36a897bdbf0817fd8b123331d092</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::ServiceServer</type>
      <name>srv_particle_size_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a98b81bcdca1427a39e4a26b1114d7fd4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>State6DOF</type>
      <name>state_prev_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a2472d6d503b02357a04095affb1c9746</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>mcl_3dl_msgs::Status</type>
      <name>status_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a0d1501778e4e77c9030195a720e57027</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_cloud_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab7554a63c3ba946151ff156f23457b6b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_imu_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ac67b11051fea3ef965abc8e3febd40f9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_landmark_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a11af7ebcd1c28ee92bde2d8ba62bb1ec</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_mapcloud_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ad3bb6cad24ec4edd550d3e6043e39acf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_mapcloud_update_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>aaaaccef934ea1c02dc22897e3dbbff17</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_odom_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>aec382f73f53ee446236dc820851bb366</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Subscriber</type>
      <name>sub_position_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab7bb886e858c5d821791c3858390a33a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>ros::Duration</type>
      <name>tf_tolerance_base_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a630bfa0838aac75ee11be092902edcd2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf2_ros::TransformBroadcaster</type>
      <name>tfb_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a9d557d48c787e36d2ac2279d754f19f2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf2_ros::Buffer</type>
      <name>tfbuf_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>a0ac9e0896f8f499a85823cc9e6a08968</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>tf2_ros::TransformListener</type>
      <name>tfl_</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode.html</anchorfile>
      <anchor>ab50567bd23c70832d06b5d33b214f131</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::MotionPredictionModelBase</name>
    <filename>classmcl__3dl_1_1MotionPredictionModelBase.html</filename>
    <member kind="typedef">
      <type>std::shared_ptr&lt; MotionPredictionModelBase &gt;</type>
      <name>Ptr</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelBase.html</anchorfile>
      <anchor>a8b35f728661339efa14eed1dd1aca72d</anchor>
      <arglist></arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>predict</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelBase.html</anchorfile>
      <anchor>a6be0d1389fe03d96cccd188d36233e88</anchor>
      <arglist>(State6DOF &amp;s) const =0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setOdoms</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelBase.html</anchorfile>
      <anchor>ac5486240c96dd58068d31ab4dc09ae66</anchor>
      <arglist>(const State6DOF &amp;odom_prev, const State6DOF &amp;odom_current, const float time_diff)=0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::MotionPredictionModelDifferentialDrive</name>
    <filename>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</filename>
    <base>mcl_3dl::MotionPredictionModelBase</base>
    <member kind="function">
      <type></type>
      <name>MotionPredictionModelDifferentialDrive</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>a900c4c90fee7f3361e123cd706f6783d</anchor>
      <arglist>(const float odom_err_integ_lin_tc, const float odom_err_integ_ang_tc)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>predict</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>aa28d54577b843abfa26fc1c26a1a0a76</anchor>
      <arglist>(State6DOF &amp;s) const final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setOdoms</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>a47fd77cd9f020423ba62b808b093e968</anchor>
      <arglist>(const State6DOF &amp;odom_prev, const State6DOF &amp;odom_current, const float time_diff) final</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const float</type>
      <name>odom_err_integ_ang_tc_</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>a4fe9e664c7d82289f6b9adc2d47572f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const float</type>
      <name>odom_err_integ_lin_tc_</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>a3931e8db6c98e278c14ea4ef78ed4def</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>relative_angle_</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>aacf013fd3ba7d161dcfbe937ee97f794</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Quat</type>
      <name>relative_quat_</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>a191f362aa0f4bd34f13dc4ba028193ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>relative_translation_</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>ae386024d6ad84e82efcbd1772a1738eb</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>relative_translation_norm_</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>a96123ad5f1971acf9f570ef3c616dd18</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>float</type>
      <name>time_diff_</name>
      <anchorfile>classmcl__3dl_1_1MotionPredictionModelDifferentialDrive.html</anchorfile>
      <anchor>ac30f2390bf6f2cfed570da96b166a19f</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::MultivariateNoiseGenerator</name>
    <filename>classmcl__3dl_1_1MultivariateNoiseGenerator.html</filename>
    <templarg></templarg>
    <base>mcl_3dl::NoiseGeneratorBase</base>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; FLT_TYPE, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>a28b26dcc6187952eeeb58ae3fde65c2e</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>NoiseGeneratorBase&lt; FLT_TYPE &gt;</type>
      <name>Parent</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>adebdaaea904a3fafbee6cd2f5a801e0d</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; FLT_TYPE, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>ace264f4dbd02298947358886613da8fd</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MultivariateNoiseGenerator</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>a17579518fa7261423fd0b24ec41f47f6</anchor>
      <arglist>(const MEAN_TYPE &amp;mean, const COV_TYPE &amp;covariance)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; FLT_TYPE &gt;</type>
      <name>operator()</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>a105707f4f3e339d6a24bb2d4cea443ca</anchor>
      <arglist>(RANDOM_ENGINE &amp;engine) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setCovariance</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>ac26efe1769d4715be48f2310b7d1a610</anchor>
      <arglist>(const COV_TYPE &amp;covariance)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Vector</type>
      <name>mean_vec_</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>aad766c46c8d2c893dc91273a4196dc69</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>norm_transform_</name>
      <anchorfile>classmcl__3dl_1_1MultivariateNoiseGenerator.html</anchorfile>
      <anchor>a738bc2c63f63ca3e3f1866a041162649</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::MCL3dlNode::MyPointRepresentation</name>
    <filename>classmcl__3dl_1_1MCL3dlNode_1_1MyPointRepresentation.html</filename>
    <member kind="function" virtualness="virtual">
      <type>virtual void</type>
      <name>copyToFloatArray</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode_1_1MyPointRepresentation.html</anchorfile>
      <anchor>ae0c44f1ca7fd4ec20d909359878936be</anchor>
      <arglist>(const PointType &amp;p, float *out) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>MyPointRepresentation</name>
      <anchorfile>classmcl__3dl_1_1MCL3dlNode_1_1MyPointRepresentation.html</anchorfile>
      <anchor>a74185538a1edfff71798b9ae3042d5d4</anchor>
      <arglist>()</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::NoiseGeneratorBase</name>
    <filename>classmcl__3dl_1_1NoiseGeneratorBase.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>size_t</type>
      <name>getDimension</name>
      <anchorfile>classmcl__3dl_1_1NoiseGeneratorBase.html</anchorfile>
      <anchor>a82edd76c6bb884ac68f0ad8afc24a6cf</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>const std::vector&lt; FLT_TYPE &gt; &amp;</type>
      <name>getMean</name>
      <anchorfile>classmcl__3dl_1_1NoiseGeneratorBase.html</anchorfile>
      <anchor>a515a52639750a98b20df905c083966a0</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMean</name>
      <anchorfile>classmcl__3dl_1_1NoiseGeneratorBase.html</anchorfile>
      <anchor>a8b76bc9ebb7d89a639a64bc54e61525c</anchor>
      <arglist>(const State6DOF &amp;mean)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setMean</name>
      <anchorfile>classmcl__3dl_1_1NoiseGeneratorBase.html</anchorfile>
      <anchor>a0c6ce4210963a973afa223feb19211a9</anchor>
      <arglist>(const T &amp;mean)</arglist>
    </member>
    <member kind="function" virtualness="virtual">
      <type>virtual</type>
      <name>~NoiseGeneratorBase</name>
      <anchorfile>classmcl__3dl_1_1NoiseGeneratorBase.html</anchorfile>
      <anchor>a455ea899808ecddd58c01a646f88b096</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; FLT_TYPE &gt;</type>
      <name>mean_</name>
      <anchorfile>classmcl__3dl_1_1NoiseGeneratorBase.html</anchorfile>
      <anchor>ac698dc967dc4d8dc7a22a9bcd501b1fa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::NormalLikelihood</name>
    <filename>classmcl__3dl_1_1NormalLikelihood.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type></type>
      <name>NormalLikelihood</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a2e85237f5a7335fde35751247e4b895e</anchor>
      <arglist>(const FLT_TYPE sigma)</arglist>
    </member>
    <member kind="function">
      <type>FLT_TYPE</type>
      <name>operator()</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a30e55a7fbc23fb6faaad9b0a5a16f2c5</anchor>
      <arglist>(const FLT_TYPE x) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FLT_TYPE</type>
      <name>a_</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a74a17c3bc58c591df2d4a8cd39f1b80a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FLT_TYPE</type>
      <name>sq2_</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a4f67ec6059a839b55ee50dba686b0f89</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>NormalLikelihood&lt; float &gt;</name>
    <filename>classmcl__3dl_1_1NormalLikelihood.html</filename>
    <member kind="function">
      <type></type>
      <name>NormalLikelihood</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a2e85237f5a7335fde35751247e4b895e</anchor>
      <arglist>(const float sigma)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>operator()</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a30e55a7fbc23fb6faaad9b0a5a16f2c5</anchor>
      <arglist>(const float x) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>a_</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a74a17c3bc58c591df2d4a8cd39f1b80a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>sq2_</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihood.html</anchorfile>
      <anchor>a4f67ec6059a839b55ee50dba686b0f89</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::NormalLikelihoodNd</name>
    <filename>classmcl__3dl_1_1NormalLikelihoodNd.html</filename>
    <templarg></templarg>
    <templarg>DIMENSION</templarg>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; FLT_TYPE, DIMENSION, DIMENSION &gt;</type>
      <name>Matrix</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihoodNd.html</anchorfile>
      <anchor>a99c824996600deb3092587fd7d8b51ce</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef">
      <type>Eigen::Matrix&lt; FLT_TYPE, DIMENSION, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihoodNd.html</anchorfile>
      <anchor>a323865a61a2efe855e5da3addc9956a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>NormalLikelihoodNd</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihoodNd.html</anchorfile>
      <anchor>a82e6957577768d8b3a3203a82dbedb81</anchor>
      <arglist>(const Matrix sigma)</arglist>
    </member>
    <member kind="function">
      <type>FLT_TYPE</type>
      <name>operator()</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihoodNd.html</anchorfile>
      <anchor>a0ddafdb1e7d75caf39f788fa3552ad8c</anchor>
      <arglist>(const Vector x) const</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FLT_TYPE</type>
      <name>a_</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihoodNd.html</anchorfile>
      <anchor>ac2e40402f8c99d22a19d2a874e7302f6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>Matrix</type>
      <name>sigma_inv_</name>
      <anchorfile>classmcl__3dl_1_1NormalLikelihoodNd.html</anchorfile>
      <anchor>a3ab051abc6249ad6e55ce10dec8efcbd</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::Parameters</name>
    <filename>classmcl__3dl_1_1Parameters.html</filename>
    <member kind="function">
      <type>bool</type>
      <name>load</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a5ae99c80e1c5b0e418cfeed6b76a4cc4</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>acc_lpf_step_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a8acabc8d59be03422555a32670249f6f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>acc_var_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ac52b6f499113981766e250b04e096774</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>accum_cloud_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ac40d4cfeeccd9c1538f3df8a5966393c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>bias_var_ang_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ae75dbf557b002f13135f3084f800b921</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>bias_var_dist_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ac5ec8692769c3dd923e8021611303d1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::array&lt; float, 4 &gt;</type>
      <name>dist_weight_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a9d55b00557768bfba7c199bbda711052</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>downsample_x_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a0490b29b97aeccad991c6edc98e2c788</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>downsample_y_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a494945f9dc871f736de4ec0155f5b4e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>downsample_z_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a9bd5ad675def4b38a0069d1086d08003</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>expansion_var_pitch_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a8587c309523f3daaf739eeb69ea74383</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>expansion_var_roll_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ae7e1f8d0e5802efaaaeb09b20253ed3f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>expansion_var_x_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a4834699170a7508be79c451a0cafb2b6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>expansion_var_y_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a3fd3d0d2c29be9892358973be81853f1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>expansion_var_yaw_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a998ae234c69c1c53a94dd9e2fd1b85c9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>expansion_var_z_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a524970ea5b7a06bd201e0698d8a50478</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>fake_imu_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a4a853a2a8e4659112a348ccdc5876e66</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>fake_odom_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a311ea28995755f3d3499fca46b0cb51d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>fix_ang_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a6fa2cb4cd5171538a5da70eba6135af9</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>fix_dist_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aacd327f0eaa21841dcb8fc05fa8bde22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::map&lt; std::string, std::string &gt;</type>
      <name>frame_ids_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a163eef67735d9baca30a4f7f0f8914a6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>global_localization_div_yaw_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>af4c4f45cd4da2eef7228db515c4d30c4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>global_localization_grid_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a7d7a71d6538a9905ed1cf614c5b43440</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>State6DOF</type>
      <name>initial_pose_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a1c243b20f11498fd389c9c0068d2d547</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>State6DOF</type>
      <name>initial_pose_std_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ac0c434d282b44908657e2961e5843ec2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>jump_ang_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>afea63a82342aeea0d5bd6bb84f51d68d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>jump_dist_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a8094d97380dabbd2c149788c5a4cc399</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>lpf_step_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a335b74679e8ce8f7e92b189fa450eeb7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>map_chunk_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a1b491ae0e4a36b86cb14982e82f12a41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>map_downsample_x_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aee740ff18b88db00bc36058c2ca6202d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>map_downsample_y_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a1a28b6a52373c55894c22e84fdee996f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>map_downsample_z_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a8c3b4752cff2692550271d7afdb110ea</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>map_grid_max_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a62c908a3a1fae505ad23131375ce44ac</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>map_grid_min_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a8a55f8ba032be360324a0daf95675db0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; ros::Duration &gt;</type>
      <name>map_update_interval_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a9f02b985112ecaf128c3f325765ecff3</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>match_output_dist_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>adec7ae9cc013e03a1a3e604236a88b25</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; ros::Duration &gt;</type>
      <name>match_output_interval_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a2b93da94e8387921ae7953a973d79281</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>match_ratio_thresh_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a692e048742506c060c2d696baff6ff2f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>num_particles_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>af4ef162c11751763067e8fe96549e8b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_ang_ang_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a6a9a66646d4278f44fd13e6d16b7fa26</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_ang_lin_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aa63a2261d9e0f2c7e440a3d7ef8fea2a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_integ_ang_sigma_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ab48580270ac67463622a46d31bb0c030</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_integ_ang_tc_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aea9c8f6e0680acc8cb376b9e673199ae</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_integ_lin_sigma_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a5d5fb10e5dd22353c6ef1d5063a09e47</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_integ_lin_tc_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>af56684c9f2b21dd0c9a0784bdd2557d7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_lin_ang_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a28343f06e4a74efbaeac403d24db9d14</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>odom_err_lin_lin_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>afe10ec903e4491cbe1e2660a69ea74a1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>output_pcd_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a5ef144775a24c59a4d03d361a3806e35</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>publish_tf_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a1ee071634e6e6a5fa24f394004aec5ba</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>resample_var_pitch_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aa430fe5ebbef4d7c6dc354e8ee902e41</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>resample_var_roll_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a73cb8e0df352bfd46277eb4ddd189705</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>resample_var_x_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aa3cf668d55809d2baf655a2502a020dc</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>resample_var_y_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a71fe8d0e6499c8403b820d6b8e49c636</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>resample_var_yaw_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a7d31085d692ec3b4df7ada581f1800ab</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>resample_var_z_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a24df4efce5e18cb7ea01521d60ae25e7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>skip_measure_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a64463666687408c0b7f89f297777ac86</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::array&lt; float, 3 &gt;</type>
      <name>std_warn_thresh_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ad24af04db26d9d2dd5fc3d10ecb65806</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>std::shared_ptr&lt; ros::Duration &gt;</type>
      <name>tf_tolerance_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a895e5ac6b673e8c091ea8200e873430f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>int</type>
      <name>total_accum_cloud_max_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a11f4e9c0b31636aacff33a33576c101c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>unmatch_output_dist_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aabed0cbe78746d2fd45fa68941ae35e0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>update_downsample_x_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>aa51a811ea927ecfe4bdf6f50f1a508c0</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>update_downsample_y_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a81bbe185a669a3b3441eb8eef65d9b01</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>double</type>
      <name>update_downsample_z_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>a6a8c9645faabc5a36ca45b03b4778c8d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>use_random_sampler_with_normal_</name>
      <anchorfile>classmcl__3dl_1_1Parameters.html</anchorfile>
      <anchor>ad510168a54b4f4059b99e9464285f20d</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::pf::Particle</name>
    <filename>classmcl__3dl_1_1pf_1_1Particle.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function">
      <type>bool</type>
      <name>operator&lt;</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1Particle.html</anchorfile>
      <anchor>aa9d9e4bb16392605675416115e9291f9</anchor>
      <arglist>(const Particle &amp;p2) const</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Particle</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1Particle.html</anchorfile>
      <anchor>aa63497c21f70a4af8d15dff13773838a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Particle</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1Particle.html</anchorfile>
      <anchor>aab2be1171287ec737e1c6bdbc369cc11</anchor>
      <arglist>(FLT_TYPE prob)</arglist>
    </member>
    <member kind="variable">
      <type>FLT_TYPE</type>
      <name>accum_probability_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1Particle.html</anchorfile>
      <anchor>a3ce494688f5d1b218b7d46363bf6a9d2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FLT_TYPE</type>
      <name>probability_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1Particle.html</anchorfile>
      <anchor>abb2b718966e6a6b8c03e4aca6e082dde</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>FLT_TYPE</type>
      <name>probability_bias_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1Particle.html</anchorfile>
      <anchor>a2431544bb226e79d8b2269213afe9aed</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>T</type>
      <name>state_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1Particle.html</anchorfile>
      <anchor>a363c90035f72dbbdf6a07c917470459e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::pf::ParticleBase</name>
    <filename>classmcl__3dl_1_1pf_1_1ParticleBase.html</filename>
    <templarg></templarg>
    <member kind="function">
      <type>FLT_TYPE</type>
      <name>covElement</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a83a1577fc39ab92f282ff940a9aff364</anchor>
      <arglist>(const T &amp;e, const size_t &amp;j, const size_t &amp;k)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>normalize</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a97b44b9a7fcaed4974097db4fd337ddc</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>operator+</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a482e14d27d16bcd8a5bae8cc8f596b04</anchor>
      <arglist>(const T &amp;a)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual FLT_TYPE &amp;</type>
      <name>operator[]</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>aa2a6c3f6197fdfbfa9e2ef5ccd4d79b3</anchor>
      <arglist>(const size_t i)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>size</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a7122f5c01677855810d36ff597714073</anchor>
      <arglist>() const =0</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static T</type>
      <name>generateNoise</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a3c470097bc21c9f7f31feaeb7982c63b</anchor>
      <arglist>(RANDOM_ENGINE &amp;engine, const NOISE_GEN &amp;gen)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ParticleBase&lt; float &gt;</name>
    <filename>classmcl__3dl_1_1pf_1_1ParticleBase.html</filename>
    <member kind="function">
      <type>float</type>
      <name>covElement</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a83a1577fc39ab92f282ff940a9aff364</anchor>
      <arglist>(const T &amp;e, const size_t &amp;j, const size_t &amp;k)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>normalize</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a97b44b9a7fcaed4974097db4fd337ddc</anchor>
      <arglist>()=0</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>operator+</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a482e14d27d16bcd8a5bae8cc8f596b04</anchor>
      <arglist>(const T &amp;a)</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual float &amp;</type>
      <name>operator[]</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>aa2a6c3f6197fdfbfa9e2ef5ccd4d79b3</anchor>
      <arglist>(const size_t i)=0</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual size_t</type>
      <name>size</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a7122f5c01677855810d36ff597714073</anchor>
      <arglist>() const=0</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static T</type>
      <name>generateNoise</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleBase.html</anchorfile>
      <anchor>a3c470097bc21c9f7f31feaeb7982c63b</anchor>
      <arglist>(RANDOM_ENGINE &amp;engine, const NOISE_GEN &amp;gen)</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::pf::ParticleFilter</name>
    <filename>classmcl__3dl_1_1pf_1_1ParticleFilter.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>addNoiseUsingNoiseGenerator</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a4e38835685722fd25af4840dac7bce46</anchor>
      <arglist>(const GEN &amp;generator)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Particle&lt; T, FLT_TYPE &gt; &gt;::iterator</type>
      <name>appendParticle</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a640e92cbf3d0a90d5b20f036b5702387</anchor>
      <arglist>(const size_t num)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Particle&lt; T, FLT_TYPE &gt; &gt;::iterator</type>
      <name>begin</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>aae8002463640d87634b77bd81784c45a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>bias</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a37127b029e1f2820830cb79e218d2680</anchor>
      <arglist>(std::function&lt; void(const T &amp;, float &amp;p_bias)&gt; prob)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; T &gt;</type>
      <name>covariance</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>abeceb35db8b1d1250157646523b2ee61</anchor>
      <arglist>(const FLT_TYPE pass_ratio=1.0, const FLT_TYPE random_sample_ratio=1.0)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; Particle&lt; T, FLT_TYPE &gt; &gt;::iterator</type>
      <name>end</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>af3258471778d5e846451af8c6aaa7613</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>expectation</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>ae4dad027333413e09cc959e171a50905</anchor>
      <arglist>(const FLT_TYPE pass_ratio=1.0)</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>expectationBiased</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a2cfa03b511033d880d79a9bd079c3a15</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>FLT_TYPE</type>
      <name>getEntropy</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a77ecec51991fcb01d54a18d45437a9d2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>getParticle</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>ace51d5cc2f0e5526d1980e3d26746864</anchor>
      <arglist>(const size_t i) const</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>getParticleSize</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>ad3e279a95d524a2bebadfe6c592175b3</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>init</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>abc873a0ae5738d3762924e0d384bafe4</anchor>
      <arglist>(T mean, T sigma)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>initUsingNoiseGenerator</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a551cf979965ffbb52a4fed14b03306d6</anchor>
      <arglist>(const GEN &amp;generator)</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>max</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a00d98c7cd776d3b3045b3247c8606f3a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>maxBiased</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a31462b6b3de0cb1a27911d464920dd62</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>measure</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a7be74c89176729206b27ca7c4a7efb04</anchor>
      <arglist>(std::function&lt; FLT_TYPE(const T &amp;)&gt; likelihood)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>noise</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a569ac6bf977245d28598ba87bdf59d42</anchor>
      <arglist>(T sigma)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ParticleFilter</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>aa0e8f126ec28a1ee6b1f5f001a8e1f19</anchor>
      <arglist>(const int num_particles, const unsigned int random_seed=std::random_device()())</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>predict</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>af5fba2d0dce98e88a5158a1c2a7e981e</anchor>
      <arglist>(std::function&lt; void(T &amp;)&gt; model)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resample</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a45d84a824f29e7f0a1f2d5edea1c9f33</anchor>
      <arglist>(T sigma)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resampleUsingNoiseGenerator</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a9a8be1efa83753ce8d5491e0e10b07e3</anchor>
      <arglist>(const GEN &amp;generator)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>resizeParticle</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a1a42aef3d290d0126e8d2fd4acbca8f6</anchor>
      <arglist>(const size_t num)</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>RANDOM_ENGINE</type>
      <name>engine_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>ae56648afcdca72dc874daced1edb8dc1</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FLT_TYPE</type>
      <name>entropy_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a36c696b5ce57aa8cdbbcbe9b56807d22</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>T</type>
      <name>ie_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a15eec5bc61b02528c077367e1b1abf3d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Particle&lt; T, FLT_TYPE &gt; &gt;</type>
      <name>particles_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a58cb992ea2a7521f30999ff2c7f00393</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>std::vector&lt; Particle&lt; T, FLT_TYPE &gt; &gt;</type>
      <name>particles_dup_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleFilter.html</anchorfile>
      <anchor>a14f7f33d1ac3a8858583790d0c48cae6</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::pf::ParticleWeightedMean</name>
    <filename>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</filename>
    <templarg></templarg>
    <templarg></templarg>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>aa19ce66816eb479ec1363c70b8f6a6c1</anchor>
      <arglist>(const T &amp;s, const FLT_TYPE &amp;prob)</arglist>
    </member>
    <member kind="function">
      <type>T</type>
      <name>getMean</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>ac329c814d56ea6322d4f94d50600b5c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>FLT_TYPE</type>
      <name>getTotalProbability</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>ad0d2563574f8ac4580a84b13469bfc8e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ParticleWeightedMean</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>a8c213778e7778e8e3f1f2727c638b373</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>T</type>
      <name>e_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>aa0b0635d9de6022aba7eff564a4129d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>FLT_TYPE</type>
      <name>p_sum_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>a05e8949a6dc57aa6bda1ee8669d82c15</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>ParticleWeightedMean&lt; State6DOF, float &gt;</name>
    <filename>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</filename>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>aa19ce66816eb479ec1363c70b8f6a6c1</anchor>
      <arglist>(const State6DOF &amp;s, const float &amp;prob)</arglist>
    </member>
    <member kind="function">
      <type>State6DOF</type>
      <name>getMean</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>ac329c814d56ea6322d4f94d50600b5c3</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>getTotalProbability</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>ad0d2563574f8ac4580a84b13469bfc8e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ParticleWeightedMean</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>a8c213778e7778e8e3f1f2727c638b373</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>State6DOF</type>
      <name>e_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>aa0b0635d9de6022aba7eff564a4129d5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>float</type>
      <name>p_sum_</name>
      <anchorfile>classmcl__3dl_1_1pf_1_1ParticleWeightedMean.html</anchorfile>
      <anchor>a05e8949a6dc57aa6bda1ee8669d82c15</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::ParticleWeightedMeanQuat</name>
    <filename>classmcl__3dl_1_1ParticleWeightedMeanQuat.html</filename>
    <base>ParticleWeightedMean&lt; State6DOF, float &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>add</name>
      <anchorfile>classmcl__3dl_1_1ParticleWeightedMeanQuat.html</anchorfile>
      <anchor>a0b01ca017ab2a7f154e3e54340fe8e97</anchor>
      <arglist>(const State6DOF &amp;s, const float &amp;prob)</arglist>
    </member>
    <member kind="function">
      <type>State6DOF</type>
      <name>getMean</name>
      <anchorfile>classmcl__3dl_1_1ParticleWeightedMeanQuat.html</anchorfile>
      <anchor>ac62e628ca6f3939b02740fb320526f8a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>getTotalProbability</name>
      <anchorfile>classmcl__3dl_1_1ParticleWeightedMeanQuat.html</anchorfile>
      <anchor>af48f63e1de8085555d56c82bc9e80c8e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>ParticleWeightedMeanQuat</name>
      <anchorfile>classmcl__3dl_1_1ParticleWeightedMeanQuat.html</anchorfile>
      <anchor>adc5489d5822c8c2a750a5e2edf61e6c9</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>mcl_3dl::Vec3</type>
      <name>front_sum_</name>
      <anchorfile>classmcl__3dl_1_1ParticleWeightedMeanQuat.html</anchorfile>
      <anchor>ad85d7f53bfdca7e0d0d63b9c72299a3c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="protected">
      <type>mcl_3dl::Vec3</type>
      <name>up_sum_</name>
      <anchorfile>classmcl__3dl_1_1ParticleWeightedMeanQuat.html</anchorfile>
      <anchor>afe6d4f00ca57db6b31e45369c75654a9</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::PointCloudRandomSampler</name>
    <filename>classmcl__3dl_1_1PointCloudRandomSampler.html</filename>
    <templarg></templarg>
    <member kind="function" virtualness="pure">
      <type>virtual pcl::PointCloud&lt; POINT_TYPE &gt;::Ptr</type>
      <name>sample</name>
      <anchorfile>classmcl__3dl_1_1PointCloudRandomSampler.html</anchorfile>
      <anchor>abd486c8f61703c00d06be58cd396db84</anchor>
      <arglist>(const typename pcl::PointCloud&lt; POINT_TYPE &gt;::ConstPtr &amp;pc, const size_t num) const =0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::PointCloudSamplerWithNormal</name>
    <filename>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</filename>
    <templarg></templarg>
    <base>mcl_3dl::PointCloudRandomSampler</base>
    <member kind="function">
      <type>void</type>
      <name>loadConfig</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a0db2b140fdd193e30ffc0fc27eb612f3</anchor>
      <arglist>(const ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>PointCloudSamplerWithNormal</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>ae7823d5b4b35e04257a8fe8b0158939a</anchor>
      <arglist>(const unsigned int random_seed=std::random_device()())</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointCloud&lt; POINT_TYPE &gt;::Ptr</type>
      <name>sample</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>ab0fffa65440c43a5f5753059efe4b759</anchor>
      <arglist>(const typename pcl::PointCloud&lt; POINT_TYPE &gt;::ConstPtr &amp;pc, const size_t num) const final</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParameters</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a0c4740a3701a9b7430b355f5f3d3f1b6</anchor>
      <arglist>(const double perform_weighting_ratio, const double max_weight_ratio, const double max_weight, const double normal_search_range)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setParticleStatistics</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a4baaf2e885239be1066699dc8a70488a</anchor>
      <arglist>(const State6DOF &amp;mean, const std::vector&lt; State6DOF &gt; &amp;covariances)</arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, Eigen::Dynamic &gt;</type>
      <name>Matrix</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>ae5604596fd3f109ac03982170f39b006</anchor>
      <arglist></arglist>
    </member>
    <member kind="typedef" protection="private">
      <type>Eigen::Matrix&lt; double, Eigen::Dynamic, 1 &gt;</type>
      <name>Vector</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>ac1e80a32a3e33e1d563055137787fb6a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vector</type>
      <name>eigen_values_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a1d2a520154103778f0b30e313cb21174</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Matrix</type>
      <name>eigen_vectors_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a883f4c10920487338bf49119df1ce1bf</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; std::default_random_engine &gt;</type>
      <name>engine_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a38233b2bab4ab32e37ab7d32011b6ca2</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_weight_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a6f574c8feb40f00509dc33a3cfb19f48</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>max_weight_ratio_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a36ffca51565034842f382cc506235252</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>State6DOF</type>
      <name>mean_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a606d90a27d4aaa3afb8a2f41af3722da</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>normal_search_range_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>ad83ec04e398339fd23447fb16cbaf468</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>double</type>
      <name>perform_weighting_ratio_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudSamplerWithNormal.html</anchorfile>
      <anchor>a4581c06cc0a27388a6f9418e14be9408</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::PointCloudUniformSampler</name>
    <filename>classmcl__3dl_1_1PointCloudUniformSampler.html</filename>
    <templarg></templarg>
    <base>mcl_3dl::PointCloudRandomSampler</base>
    <member kind="function">
      <type></type>
      <name>PointCloudUniformSampler</name>
      <anchorfile>classmcl__3dl_1_1PointCloudUniformSampler.html</anchorfile>
      <anchor>a5f978547c37556999809281086dd4486</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>pcl::PointCloud&lt; POINT_TYPE &gt;::Ptr</type>
      <name>sample</name>
      <anchorfile>classmcl__3dl_1_1PointCloudUniformSampler.html</anchorfile>
      <anchor>ab392ecbc169117c51d007ea5512431ee</anchor>
      <arglist>(const typename pcl::PointCloud&lt; POINT_TYPE &gt;::ConstPtr &amp;pc, const size_t num) const final</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::shared_ptr&lt; std::default_random_engine &gt;</type>
      <name>engine_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudUniformSampler.html</anchorfile>
      <anchor>a92abd3c08f2d60b387e8da1c67c61637</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::random_device</type>
      <name>seed_gen_</name>
      <anchorfile>classmcl__3dl_1_1PointCloudUniformSampler.html</anchorfile>
      <anchor>a934ff83ee5a6be3873ed573bb57262cf</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="struct">
    <name>mcl_3dl::PointXYZIL</name>
    <filename>structmcl__3dl_1_1PointXYZIL.html</filename>
    <member kind="function">
      <type></type>
      <name>PointXYZIL</name>
      <anchorfile>structmcl__3dl_1_1PointXYZIL.html</anchorfile>
      <anchor>acf05f77a5e4677a2f06cbd5018b0632a</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>intensity</name>
      <anchorfile>structmcl__3dl_1_1PointXYZIL.html</anchorfile>
      <anchor>a423f95bc37b2aedcc7347b68cf6d80f5</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>uint32_t</type>
      <name>label</name>
      <anchorfile>structmcl__3dl_1_1PointXYZIL.html</anchorfile>
      <anchor>a7296048787dcfd9306bb1195ab74fe78</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type></type>
      <name>PCL_ADD_POINT4D</name>
      <anchorfile>structmcl__3dl_1_1PointXYZIL.html</anchorfile>
      <anchor>a6e9a9006b2809cd88556b50264f241fa</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::Quat</name>
    <filename>classmcl__3dl_1_1Quat.html</filename>
    <member kind="function">
      <type>constexpr Quat</type>
      <name>conj</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a53f8e0241815a3e8a0f2a6b1ad2b405e</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>constexpr float</type>
      <name>dot</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a887e885ec07f70cc60b603be1434fb7d</anchor>
      <arglist>(const Quat &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>getAxisAng</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a23d89c9fbe51e13be41016a589c13cae</anchor>
      <arglist>(Vec3 &amp;axis, float &amp;ang) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>getRPY</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a181a1c9c8777fffdade11e667079bf64</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>constexpr Quat</type>
      <name>inv</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a38341d163469e62d8e34c1267cce50ab</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>norm</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a08a2d45a49da03c603949852905f9424</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a2dfbacf988e19bfb7704f158a5b2e55d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>normalized</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a69524fe0f015d08c4141e5d76df9bae1</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>constexpr bool</type>
      <name>operator!=</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a4d78b440f1a827160163906d75350532</anchor>
      <arglist>(const Quat &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr Quat</type>
      <name>operator*</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>ab1aed21b9189dbca3c0b30bd34cea39c</anchor>
      <arglist>(const float &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr Quat</type>
      <name>operator*</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a8ab8d7ec318898f91a64d04102ea9aae</anchor>
      <arglist>(const Quat &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>operator*</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>abab88b388b6b4ff560e964ada210e8c4</anchor>
      <arglist>(const Vec3 &amp;v) const</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>operator*=</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>ae41dd6da04d3289a2566b32ab765b81c</anchor>
      <arglist>(const float &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>operator+</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a2cdf5bb56853c7df1c5018fdb0281502</anchor>
      <arglist>(const Quat &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>operator+=</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a247b770899dc8cf2033a459797834214</anchor>
      <arglist>(const Quat &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>constexpr Quat</type>
      <name>operator-</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>aac670a5e2c69429f75ee5ff328cf90d2</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>operator-</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a212bbe7b49d9ea9147e953bee35589cc</anchor>
      <arglist>(const Quat &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>operator-=</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>abf0dca3fc4670bb398beb94088b960e6</anchor>
      <arglist>(const Quat &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>constexpr Quat</type>
      <name>operator/</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a03ef9b4f618628fc05443468b3e03bf1</anchor>
      <arglist>(const float &amp;s) const</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>operator/=</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a6a3e1e148162550f13dcb88e8ec18134</anchor>
      <arglist>(const float &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>constexpr bool</type>
      <name>operator==</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a459c33c9be18767351fd56987b8f24db</anchor>
      <arglist>(const Quat &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr</type>
      <name>Quat</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a7892690fa6980843c81fe08833aba075</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>constexpr</type>
      <name>Quat</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>ad37ce42f0626da57beb326c8d3113e86</anchor>
      <arglist>(const float &amp;x, const float &amp;y, const float &amp;z, const float &amp;w)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Quat</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a7fdb0dedfd2f4d6a791a30cfd338ea60</anchor>
      <arglist>(const Vec3 &amp;axis, const float &amp;ang)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Quat</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a83587e955439e53c99f7f5aa8a1395a7</anchor>
      <arglist>(const Vec3 &amp;forward, const Vec3 &amp;up_raw)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Quat</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>ad6a06a956d7ba978899e0a49e33e9a77</anchor>
      <arglist>(const Vec3 &amp;rpy)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>rotateAxis</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>ab1f8885d233c3a931bf1820dc8e387a3</anchor>
      <arglist>(const Quat &amp;r)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setAxisAng</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>adf4e7dff5f7558d8bd2cd16be4bece19</anchor>
      <arglist>(const Vec3 &amp;axis, const float &amp;ang)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRPY</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a830719475faff66b2a93626299fae13b</anchor>
      <arglist>(const Vec3 &amp;rpy)</arglist>
    </member>
    <member kind="function">
      <type>Quat</type>
      <name>weighted</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a4013c98b9fd794c9e066418bb409f07d</anchor>
      <arglist>(const float &amp;s) const</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>w_</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a2f8d131f2bc1743b51832a89d140193b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>x_</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>abf5ac10d45b93f12b10d5c96f9bf7716</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>y_</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>ab4d78e931ca2dd3a455fb511405c00b7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>z_</name>
      <anchorfile>classmcl__3dl_1_1Quat.html</anchorfile>
      <anchor>a20b052160785a3762b86aa0f21081f21</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::Raycast</name>
    <filename>classmcl__3dl_1_1Raycast.html</filename>
    <templarg></templarg>
    <class kind="class">mcl_3dl::Raycast::CastResult</class>
    <member kind="function" virtualness="pure">
      <type>virtual bool</type>
      <name>getNextCastResult</name>
      <anchorfile>classmcl__3dl_1_1Raycast.html</anchorfile>
      <anchor>a65aafbbcf24be792b3e2f2291bc16486</anchor>
      <arglist>(CastResult &amp;result)=0</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>Raycast</name>
      <anchorfile>classmcl__3dl_1_1Raycast.html</anchorfile>
      <anchor>a3490143b2cda5ce1f6f5ee68156cabd5</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function" virtualness="pure">
      <type>virtual void</type>
      <name>setRay</name>
      <anchorfile>classmcl__3dl_1_1Raycast.html</anchorfile>
      <anchor>acb69b64d85a0db724c5640fa80f13b59</anchor>
      <arglist>(typename ChunkedKdtree&lt; POINT_TYPE &gt;::Ptr kdtree, const Vec3 ray_begin, const Vec3 ray_end)=0</arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::RaycastUsingDDA</name>
    <filename>classmcl__3dl_1_1RaycastUsingDDA.html</filename>
    <templarg></templarg>
    <base>mcl_3dl::Raycast</base>
    <member kind="function">
      <type>bool</type>
      <name>getNextCastResult</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a9c986d9b3bd3e89f443b4c056398cc3e</anchor>
      <arglist>(CastResult &amp;result) final</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RaycastUsingDDA</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>af062ec1af7721ce23599922dd0816ded</anchor>
      <arglist>(const double map_grid_size_x, const double map_grid_size_y, const double map_grid_size_z, const double dda_grid_size, const double ray_angle_half, const double hit_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRay</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a713178c1c32dff8e3731190fa73083a8</anchor>
      <arglist>(typename ChunkedKdtree&lt; POINT_TYPE &gt;::Ptr kdtree, const Vec3 ray_begin, const Vec3 ray_end_org) final</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Vec3</type>
      <name>fromIndex</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a4c50e77d0e58be585a57b0401b6f6da3</anchor>
      <arglist>(const Eigen::Vector3i &amp;index) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>size_t</type>
      <name>getArrayIndex</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>aa5c130933d376145c9b6e6705460c787</anchor>
      <arglist>(const Eigen::Vector3i &amp;cell) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>const POINT_TYPE *</type>
      <name>hasIntersection</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a1a848c73ca7a7f4c8e0f56936757bf29</anchor>
      <arglist>(const Eigen::Vector3i &amp;target_cell) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>incrementIndex</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>afda45256a0d92e7fcb2d24e9065ca44e</anchor>
      <arglist>(const int i)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>bool</type>
      <name>isPointWithinMap</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a9d29e63bd010a58fd891ec18b59e0abb</anchor>
      <arglist>(const Vec3 &amp;point) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>setExists</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a61d92bf6ea343fedb56058279b48d9a7</anchor>
      <arglist>(const POINT_TYPE *point)</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Vector3i</type>
      <name>toIndex</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a6aa6980234df9cf672e823c3a7d5a9d1</anchor>
      <arglist>(const POINT_TYPE *point) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>Eigen::Vector3i</type>
      <name>toIndex</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a9454cbb0c8eb59b1ad0e8b08b9115a4d</anchor>
      <arglist>(const Vec3 &amp;point) const</arglist>
    </member>
    <member kind="function" protection="private">
      <type>void</type>
      <name>updatePointCloud</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>ada3cef5ce6c69414249a7083705475ac</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3i</type>
      <name>begin_index_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a8fb06ced956c2a208802fb62a1b9066a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3i</type>
      <name>current_index_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a359fad0d66e496e149851a43a7c4bad4</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>dda_grid_size_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a417dd09995a3b0971f010b7d1e873604</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3i</type>
      <name>end_index_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a0b0903ac32db8e236791c055a1389e1d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>hit_tolerance_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a6f2a2b638baffd525bebe6a17ed7515d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>initial_edges_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a1cbb1d7b8f467737ab7a526482b93891</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ChunkedKdtree&lt; POINT_TYPE &gt;::Ptr</type>
      <name>kdtree_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a39be918de491332213ae612dc2dd474a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3i</type>
      <name>map_size_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a0c1f2f2877814ec1817f16eca20efd4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>max_movement_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a588ae64a401782e2e079211427326f1a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector4f</type>
      <name>max_p_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>ad0ca3ca22abf00b479ae3bc1a3db536d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>min_dist_thr_sq_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>ab2d641a2e29941ce4ac5d8489ae5a092</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector4f</type>
      <name>min_p_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a66387c4e8da6d903ec1a0482441e2b7a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>pcl::PCLHeader</type>
      <name>point_cloud_header_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>aba4ae257d34dcd46d8e951d3017a2416</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::vector&lt; uint8_t &gt;</type>
      <name>point_exists_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>afe00a2b6a3c2d2f7c7b1de20a5b3b77a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>std::unordered_map&lt; size_t, std::vector&lt; const POINT_TYPE * &gt; &gt;</type>
      <name>points_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a39252cbb04b0904cc584b2ee93af2764</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>pos_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a514cee7eeaeb550f0081d84048fb0017</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const double</type>
      <name>ray_angle_half_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>ad794b813f8e513464681dfbf8ef1bd44</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>ray_begin_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a219ee8aa18a99d56d02c604243f03012</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>ray_direction_vector_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a329eaa8d9c3a8afe11ccea98c69bcc4d</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Eigen::Vector3i</type>
      <name>step_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a6e00b21ab7d2ae7b57673da7ca88cf63</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>t_delta_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a7f4405caa717cad94366d5ad164c633b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>t_max_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingDDA.html</anchorfile>
      <anchor>a3bc05a17cbbd444a48bf86b338991058</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::RaycastUsingKDTree</name>
    <filename>classmcl__3dl_1_1RaycastUsingKDTree.html</filename>
    <templarg></templarg>
    <base>mcl_3dl::Raycast</base>
    <member kind="function">
      <type>bool</type>
      <name>getNextCastResult</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>afdb9bc4b20ae3cfa0ea7a500069d4a0a</anchor>
      <arglist>(CastResult &amp;result) final</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RaycastUsingKDTree</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>a4ecc235c49c1625e72bc42edf9ca226f</anchor>
      <arglist>(const float map_grid_size_x, const float map_grid_size_y, const float map_grid_size_z, const float hit_tolerance)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>setRay</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>a7c6e42221e91e64839833aa5b43c0d33</anchor>
      <arglist>(typename ChunkedKdtree&lt; POINT_TYPE &gt;::Ptr kdtree, const Vec3 ray_begin, const Vec3 ray_end) final</arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>count_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>ae382e8afe23fe9f4b434119c21eb2367</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const float</type>
      <name>hit_tolerance_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>ab2ecfb34b5276bade8652654b7ff0e1b</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>inc_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>a686fcfc736d53e94908fcde22869bcf7</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>ChunkedKdtree&lt; POINT_TYPE &gt;::Ptr</type>
      <name>kdtree_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>ac790911aad9ccb5100e242eba48e040f</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>int</type>
      <name>length_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>a4d6428363280c2b2930cf3aaf3bc78a8</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const float</type>
      <name>map_grid_max_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>a5b32280e1edd08318a0991a70b1e4678</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>const float</type>
      <name>map_grid_min_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>ad511ad63a3f4fc508730b2a0c5a60912</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable" protection="private">
      <type>Vec3</type>
      <name>pos_</name>
      <anchorfile>classmcl__3dl_1_1RaycastUsingKDTree.html</anchorfile>
      <anchor>a20f7b52a36b4aa948ca71845a9c65da8</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::State6DOF::RPYVec</name>
    <filename>classmcl__3dl_1_1State6DOF_1_1RPYVec.html</filename>
    <member kind="function">
      <type></type>
      <name>RPYVec</name>
      <anchorfile>classmcl__3dl_1_1State6DOF_1_1RPYVec.html</anchorfile>
      <anchor>aefc238eb4d66b2b97c4e14ec8d0f5c2e</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RPYVec</name>
      <anchorfile>classmcl__3dl_1_1State6DOF_1_1RPYVec.html</anchorfile>
      <anchor>a8aed9e3135dd0ba5f55e7679a7e3bef4</anchor>
      <arglist>(const float r, const float p, const float y)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>RPYVec</name>
      <anchorfile>classmcl__3dl_1_1State6DOF_1_1RPYVec.html</anchorfile>
      <anchor>ad1a2ab77ea2ab01443df05f26f9b23dc</anchor>
      <arglist>(const mcl_3dl::Vec3 &amp;v)</arglist>
    </member>
    <member kind="variable">
      <type>mcl_3dl::Vec3</type>
      <name>v_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF_1_1RPYVec.html</anchorfile>
      <anchor>a9c0f69c3d560b53d76fda5dbb2343fcb</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>State</name>
    <filename>classState.html</filename>
    <base>ParticleBase&lt; float &gt;</base>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>classState.html</anchorfile>
      <anchor>ac869ee855c30f66cd190cc89cf0d2405</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>const float &amp;</type>
      <name>operator[]</name>
      <anchorfile>classState.html</anchorfile>
      <anchor>a109e4d3934566049793355e47c7cdf2e</anchor>
      <arglist>(const size_t i) const</arglist>
    </member>
    <member kind="function">
      <type>float &amp;</type>
      <name>operator[]</name>
      <anchorfile>classState.html</anchorfile>
      <anchor>a64c6aab805fcb6c9ec2f72decbfac3fe</anchor>
      <arglist>(const size_t i) override</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>size</name>
      <anchorfile>classState.html</anchorfile>
      <anchor>aa381de9cfff834afaae9dbb99532df28</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>State</name>
      <anchorfile>classState.html</anchorfile>
      <anchor>ab91bb1dd5aa6260ab2a456581daf9ec2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>State</name>
      <anchorfile>classState.html</anchorfile>
      <anchor>afbae71c258c123e56fcc5aac1f82d43f</anchor>
      <arglist>(const float x)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>x</name>
      <anchorfile>classState.html</anchorfile>
      <anchor>a9948cc668f49246582cfd131b7928f7e</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::State6DOF</name>
    <filename>classmcl__3dl_1_1State6DOF.html</filename>
    <base>ParticleBase&lt; float &gt;</base>
    <class kind="class">mcl_3dl::State6DOF::RPYVec</class>
    <member kind="function">
      <type>bool</type>
      <name>isDiff</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a9d62be74d138752d57dc551b2c440c0a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>normalize</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a6eda25d97bbda2e15bf8c75a51f6b9b6</anchor>
      <arglist>() override</arglist>
    </member>
    <member kind="function">
      <type>State6DOF</type>
      <name>operator+</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>aae152dd7efc50d3dd1e7a5e459f24ca3</anchor>
      <arglist>(const State6DOF &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>State6DOF</type>
      <name>operator-</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>ab1ffbc1c2e26c7b1855dd880ccc3151d</anchor>
      <arglist>(const State6DOF &amp;a) const</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>operator[]</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a63d4d1debf60756b857df0d87b1b329c</anchor>
      <arglist>(const size_t i) const</arglist>
    </member>
    <member kind="function">
      <type>float &amp;</type>
      <name>operator[]</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a71e5f74bbfff75200aacda9d4297765f</anchor>
      <arglist>(const size_t i) override</arglist>
    </member>
    <member kind="function">
      <type>size_t</type>
      <name>size</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>aa873a739be9f93b79ac2823208a39a24</anchor>
      <arglist>() const override</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>State6DOF</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>af204d5c226a2f6f674bc4dd982596db2</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>State6DOF</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a2327f239826b9cbcb0b0eb25acd0405e</anchor>
      <arglist>(const mcl_3dl::Vec3 pos, const mcl_3dl::Quat rot)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>State6DOF</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a55ed23f8088201d14fdbdab550ed4518</anchor>
      <arglist>(const mcl_3dl::Vec3 pos, const mcl_3dl::Vec3 rpy)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>transform</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a25ecb86170da6415642cb07d122ed9f9</anchor>
      <arglist>(pcl::PointCloud&lt; PointType &gt; &amp;pc) const</arglist>
    </member>
    <member kind="function" static="yes">
      <type>static State6DOF</type>
      <name>generateNoise</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a048bcb37d9ad78ee7e896e2e732101c7</anchor>
      <arglist>(RANDOM_ENGINE &amp;engine, const NOISE_GEN &amp;gen)</arglist>
    </member>
    <member kind="variable">
      <type>bool</type>
      <name>diff_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a38d7adde7d3b30374c5f094eaabeab5a</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>noise_aa_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a01cacc2b2d76eacaa1623fc7a25da834</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>noise_al_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a65777b41bbdf26d65dee74fe72924599</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>noise_la_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a012bba3fa8a94927a57dffd06b2bb238</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>noise_ll_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a626b80c0160b377b3d834430972ae102</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>mcl_3dl::Vec3</type>
      <name>odom_err_integ_ang_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>ad92f0cc6a747128565835214fab1ca9c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>mcl_3dl::Vec3</type>
      <name>odom_err_integ_lin_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>aacf999b9b45f67a844f172b8d150e342</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>mcl_3dl::Vec3</type>
      <name>pos_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a963fe322b61924182dbb9233377a60fe</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>mcl_3dl::Quat</type>
      <name>rot_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a619cd88ec981798ba309e238ff41d3e6</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>RPYVec</type>
      <name>rpy_</name>
      <anchorfile>classmcl__3dl_1_1State6DOF.html</anchorfile>
      <anchor>a15a1a242010f7518238668b40e8c172c</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="class">
    <name>mcl_3dl::Vec3</name>
    <filename>classmcl__3dl_1_1Vec3.html</filename>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>cross</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a66c56c73e50853da88e1ab6fbb6b16c2</anchor>
      <arglist>(const Vec3 &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr float</type>
      <name>dot</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a34bbbb9508daa6d23bcf1c963a7812c4</anchor>
      <arglist>(const Vec3 &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>norm</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a137f623dc5f52a456cdec5001811915a</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>Vec3</type>
      <name>normalized</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>ae4b6918c9e476c08c948c4d7e5473691</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>constexpr bool</type>
      <name>operator!=</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>aa6f1b9d675273afff72563bf3687d2d3</anchor>
      <arglist>(const Vec3 &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>operator*</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a86dbecb4abbd504776bb83f7ae401358</anchor>
      <arglist>(const float s) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>operator*=</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a7bb75b89e703380524db7b905d1ede12</anchor>
      <arglist>(const float &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>operator+</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a4ea4e72fbfd88fa100c7ad7fa31315cb</anchor>
      <arglist>(const Vec3 &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>operator+=</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>ad67040947a73d597e27e3ed124f6b0fd</anchor>
      <arglist>(const Vec3 &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>operator-</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a21feb35f6f0d7649cb274e98b4ec964b</anchor>
      <arglist>() const</arglist>
    </member>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>operator-</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a09b6a2ad4b94c97129c26b028797aed6</anchor>
      <arglist>(const Vec3 &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>operator-=</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a54375a0fa4fa47fe3f1d392ce54d3aa0</anchor>
      <arglist>(const Vec3 &amp;q)</arglist>
    </member>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>operator/</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>ac8c261f857a3c96ac79ac9b2d15c6ca5</anchor>
      <arglist>(const float s) const</arglist>
    </member>
    <member kind="function">
      <type>Vec3 &amp;</type>
      <name>operator/=</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>aba8b2283d278699b9aa7fda08e9f1837</anchor>
      <arglist>(const float &amp;s)</arglist>
    </member>
    <member kind="function">
      <type>constexpr bool</type>
      <name>operator==</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a04dd070bd13625e99767731522d4129e</anchor>
      <arglist>(const Vec3 &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>float &amp;</type>
      <name>operator[]</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a8a62de58c2b145c3acdb42425fd3a297</anchor>
      <arglist>(const size_t i)</arglist>
    </member>
    <member kind="function">
      <type>float</type>
      <name>operator[]</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>adfe3dbbb168a37e9b96500f6bc67a223</anchor>
      <arglist>(const size_t i) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr Vec3</type>
      <name>times</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a6948594193fc234d147166ee8f4f6e49</anchor>
      <arglist>(const Vec3 &amp;q) const</arglist>
    </member>
    <member kind="function">
      <type>constexpr</type>
      <name>Vec3</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a48ab264e282c06c8d8ff7761294c5fa0</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>constexpr</type>
      <name>Vec3</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a45cd70c7ccd5196c41ecaa2c1a6ad3e5</anchor>
      <arglist>(const float x, const float y, const float z)</arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>x_</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a7b5eec615edcaff06d62fc45cdeb5dff</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>y_</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>a3c55ce23ee005d8ebce23ab2437e775c</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>float</type>
      <name>z_</name>
      <anchorfile>classmcl__3dl_1_1Vec3.html</anchorfile>
      <anchor>ae7bde25eca82a8a4edae5f0a89ae8cde</anchor>
      <arglist></arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>mcl_3dl</name>
    <filename>namespacemcl__3dl.html</filename>
    <namespace>mcl_3dl::pf</namespace>
    <namespace>mcl_3dl::test</namespace>
    <class kind="class">mcl_3dl::ChunkedKdtree</class>
    <class kind="class">mcl_3dl::CloudAccumulationLogic</class>
    <class kind="class">mcl_3dl::CloudAccumulationLogicBase</class>
    <class kind="class">mcl_3dl::CloudAccumulationLogicPassThrough</class>
    <class kind="class">mcl_3dl::DiagonalNoiseGenerator</class>
    <class kind="class">mcl_3dl::Filter</class>
    <class kind="class">mcl_3dl::FilterVec3</class>
    <class kind="class">mcl_3dl::ImuMeasurementModelBase</class>
    <class kind="class">mcl_3dl::ImuMeasurementModelGravity</class>
    <class kind="class">mcl_3dl::LidarMeasurementModelBase</class>
    <class kind="class">mcl_3dl::LidarMeasurementModelBeam</class>
    <class kind="class">mcl_3dl::LidarMeasurementModelLikelihood</class>
    <class kind="struct">mcl_3dl::LidarMeasurementResult</class>
    <class kind="class">mcl_3dl::MCL3dlNode</class>
    <class kind="class">mcl_3dl::MotionPredictionModelBase</class>
    <class kind="class">mcl_3dl::MotionPredictionModelDifferentialDrive</class>
    <class kind="class">mcl_3dl::MultivariateNoiseGenerator</class>
    <class kind="class">mcl_3dl::NoiseGeneratorBase</class>
    <class kind="class">mcl_3dl::NormalLikelihood</class>
    <class kind="class">mcl_3dl::NormalLikelihoodNd</class>
    <class kind="class">mcl_3dl::Parameters</class>
    <class kind="class">mcl_3dl::ParticleWeightedMeanQuat</class>
    <class kind="class">mcl_3dl::PointCloudRandomSampler</class>
    <class kind="class">mcl_3dl::PointCloudSamplerWithNormal</class>
    <class kind="class">mcl_3dl::PointCloudUniformSampler</class>
    <class kind="struct">mcl_3dl::PointXYZIL</class>
    <class kind="class">mcl_3dl::Quat</class>
    <class kind="class">mcl_3dl::Raycast</class>
    <class kind="class">mcl_3dl::RaycastUsingDDA</class>
    <class kind="class">mcl_3dl::RaycastUsingKDTree</class>
    <class kind="class">mcl_3dl::State6DOF</class>
    <class kind="class">mcl_3dl::Vec3</class>
    <member kind="function">
      <type>bool</type>
      <name>fromROSMsg</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>ac005e2491f5521bde803ba9d49d0f7a1</anchor>
      <arglist>(const sensor_msgs::PointCloud2 &amp;msg, pcl::PointCloud&lt; PointT &gt; &amp;pc)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>a98ad529462f241183c5dfa36f0d1104e</anchor>
      <arglist>(NoiseGenerator, DiagonalNoiseGenerator)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>ad28d9d5b1e08158872bd3c3363cf0d05</anchor>
      <arglist>(NoiseGenerator, MultivariateNoiseGenerator)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>ac41e8f701464a766f46c61dac89eb88c</anchor>
      <arglist>(NoiseGenerator, MultivariateNoiseGeneratorForState6Dof)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>testNoiseGeneratorResults</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>a49446eea5067f45f8f131a25bb9c6b40</anchor>
      <arglist>(const std::vector&lt; float &gt; &amp;expected_means, const std::vector&lt; float &gt; &amp;expected_covariances, const NOISE_GEN &amp;gen, const float allowable_error_of_zero_cov)</arglist>
    </member>
    <member kind="function">
      <type>std::vector&lt; float &gt;</type>
      <name>toCovarianceMatrix</name>
      <anchorfile>namespacemcl__3dl.html</anchorfile>
      <anchor>aef571fc8858a4682cb0c165dc69e10da</anchor>
      <arglist>(const std::vector&lt; float &gt; &amp;sigma)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>mcl_3dl::pf</name>
    <filename>namespacemcl__3dl_1_1pf.html</filename>
    <class kind="class">mcl_3dl::pf::Particle</class>
    <class kind="class">mcl_3dl::pf::ParticleBase</class>
    <class kind="class">mcl_3dl::pf::ParticleFilter</class>
    <class kind="class">mcl_3dl::pf::ParticleWeightedMean</class>
  </compound>
  <compound kind="namespace">
    <name>mcl_3dl::test</name>
    <filename>namespacemcl__3dl_1_1test.html</filename>
    <member kind="function">
      <type>std::vector&lt; State6DOF &gt;</type>
      <name>buildPoseCovarianceMatrix</name>
      <anchorfile>namespacemcl__3dl_1_1test.html</anchorfile>
      <anchor>af1aaeaa8b67404943dccc349192b645e</anchor>
      <arglist>(const double yaw, const double front_std_dev, const double side_std_dev)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>buildWall</name>
      <anchorfile>namespacemcl__3dl_1_1test.html</anchorfile>
      <anchor>a3ad75d020dd0e5ff9a9c291baf437529</anchor>
      <arglist>(pcl::PointCloud&lt; PointXYZIL &gt;::Ptr result_points, double rotation_angle, int wall_length)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>TEST</name>
      <anchorfile>namespacemcl__3dl_1_1test.html</anchorfile>
      <anchor>a78502f9d4a1794efa3113e79042ac54c</anchor>
      <arglist>(PointCloudSamplerWithNormal, Sampling)</arglist>
    </member>
  </compound>
  <compound kind="namespace">
    <name>mcl_3dl_compat</name>
    <filename>namespacemcl__3dl__compat.html</filename>
    <member kind="function">
      <type>ros::Publisher</type>
      <name>advertise</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a517309acaa0e490d13c36593c5f5b353</anchor>
      <arglist>(ros::NodeHandle &amp;nh_new, const std::string &amp;topic_new, ros::NodeHandle &amp;nh_old, const std::string &amp;topic_old, uint32_t queue_size, bool latch=false)</arglist>
    </member>
    <member kind="function">
      <type>ros::ServiceServer</type>
      <name>advertiseService</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a5ea342fb74cbe541e98d262ae5e4ba3a</anchor>
      <arglist>(ros::NodeHandle &amp;nh_new, const std::string &amp;service_new, ros::NodeHandle &amp;nh_old, const std::string &amp;service_old, bool(T::*srv_func)(MReq &amp;, MRes &amp;), T *obj)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>checkCompatMode</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a23e8a4cdec6361a248f32b8f823c0c5f</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>int</type>
      <name>getCompat</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a3672af5be046f60194dc0b5d18906e7d</anchor>
      <arglist>()</arglist>
    </member>
    <member kind="function">
      <type>std::string</type>
      <name>getSimplifiedNamespace</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a0a8148ec07197cef5fd56d9a7d4c0d98</anchor>
      <arglist>(ros::NodeHandle &amp;nh)</arglist>
    </member>
    <member kind="function">
      <type>void</type>
      <name>paramRename</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>ad21ffd15db5d0b3212b1b898df179915</anchor>
      <arglist>(ros::NodeHandle &amp;nh, const std::string &amp;param_name_new, const std::string &amp;param_name_old)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>STATIC_ASSERT</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a3266f87215dee7c5f28ccb222b969d8a</anchor>
      <arglist>(supported_level&lt;=current_level &amp;&amp;current_level&lt;=supported_level+1)</arglist>
    </member>
    <member kind="function">
      <type></type>
      <name>STATIC_ASSERT</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>aad351fb0def20d0a778e8877a1a0711a</anchor>
      <arglist>(supported_level&lt;=default_level &amp;&amp;default_level&lt;=current_level)</arglist>
    </member>
    <member kind="function">
      <type>ros::Subscriber</type>
      <name>subscribe</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>ac413322fadc24db665194ba506a8fdc0</anchor>
      <arglist>(ros::NodeHandle &amp;nh_new, const std::string &amp;topic_new, ros::NodeHandle &amp;nh_old, const std::string &amp;topic_old, uint32_t queue_size, void(T::*fp)(M) const, T *obj, const ros::TransportHints &amp;transport_hints=ros::TransportHints())</arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>current_level</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>ab461f21c755176adfb09e9bc7bfd0414</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>default_level</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a83bbe3d9a7ca478fa5c97b2523f70533</anchor>
      <arglist></arglist>
    </member>
    <member kind="variable">
      <type>const int</type>
      <name>supported_level</name>
      <anchorfile>namespacemcl__3dl__compat.html</anchorfile>
      <anchor>a941468cb78471b84477908cbf91f8a9a</anchor>
      <arglist></arglist>
    </member>
  </compound>
</tagfile>
